In this paper, the design of hydraulic actuating circuit of doing over-running load was performed. Generally, the counter balance valve has been used to protect over-run or free falling of acuating system. But sometimes, it makes some undesirable problems such as pressure surge or vibration. To overcome such problems and satisfy the system requirements, we suggest the hydraulic circuit actuated by servo valve. In order to verify the properness of suggested hydraulic circuit, hydraulic actuator with servo valve was modeled using ADAMS/Hydraulic which is a commercial dynamic analysis software for multi-body system. Also, the effectiveness of hydraulic actuating circuit was verified via test bed and real plant.