This paper aims to reduce the influence of the delay in a tire-suspension hardware-in-the-loop simulation (HILS) system to improve the accuracy of the analysis. The HILS system was developed to evaluate the vehicle dynamics characteristics including the non-linear properties of the tire and the suspension components. A hybrid method was used for the reduction of the influence of the delay in the HILS system. The influence of the delay was compensated by using the lateral force measured in the actual tire and the lateral force calculated from the tire model. A vehicle dynamics analysis with the HILS system was conducted to assess the influence of the delay in the HILS system.