Seals are usually made from elastomer, a kind of rubber, and it has the non-linearity and hyper-elasticity. U-type seals are used to prevent the leakage of internal fluid sealed in hydraulic actuator because they have more excellent performance than O-rings or rectangular seals. As a core part of hydraulic actuator, U-type seal gives much effect on performance and reliability of actuator. This study considers an NBR U-type seal under high pressure of a hydraulic actuator, and provides its deformation, stress-strain characteristic and contact force using the non-linear finite element analysis. Analysis results are compared with the experimental ones performed by the self-developed testing equipment. Verification result shows that this study presents a good application process for the effective design of U-type seals under high operation pressure.