In　this　paper,　an　energy　recovery　type　self-sensing　magnetorheological　dampers　(MRD)　was　proposed,　using　a　damper　nested　in　a　piezoelectric　ceramic　(PZT)　stack　structure　to　achieve　energy　recovery　and　self-sensing.　Firstly,　the　structure　of　the　damper　is　designed　rationally.　Secondly,　the　MRD-based　damping　force　model　is　established　by　combining　the　characteristics　of　the　damper　motion　and　the　flow　field　distribution　principle.　Then　the　piezoelectric　material　modal　is　analysed　to　determine　its　structural　dimensions.　Next,　a　mathematical　model　of　electromechanical　coupling　between　the　parallel　piezoelectric　stack　and　MRD　is　established,　and　the　simulation　model　is　established　to　provide　a　basis　for　the　study　of　energy　recovery　and　self-sensing　performance.　Finally,　an　experimental　platform　is　built:　when　the　external　current　is　1.2　A,　the　output　damping　force　is　680　N,　and　the　damper　can　achieve　vibration　energy　recovery　and　output　power　of　0.43　W　under　the　sinusoidal　signal　with　excitation　frequency　of　5　Hz,　and　self-sensing　of　external　vibration　excitation　through　the　piezoelectric　stack　output　electrical　signal.