Hydrogen adsorption on various porous materials have been studied with a volumetric method at low temperature in the pressure of 0-760 torr. Their hydrogen uptakes depend at least partly on microporosity rather than total porosity. However, it is also necessary to consider other parameters such as pore size and pore architecture to explain the adsorption capacity. The heat of adsorption and adsorption-desorption-readsorption experiments show that the hydrogen adsorption over the porous materials are composed of physisorption with negligible contribution of chemisorption. Among the porous materials studied in this work, SAPO-34 has the highest adsorption capacity of 160 mL/g at 77 K and 1 atm probably due to high micropore surface area, micropore volume and narrow pore diameter.