In order to remotely drive the crawler tractor beyond visual range, a visual remote control driving system was designed. The system is composed of the remote data acquisition module, 2.4 G and 433 M transmission module, panoramic video display system, hydraulic actuators and electric actuators drive module. Through the visual remote control system,, the operator can observe the the real-time image of the tractor in working environment, and then send control command to remote control the tractor. To meet the work conditions of the crawler tractor, a control circuit with good anti-interference and vibration resistance was used in the system. A field test was performed in the weed-free field without electromagnetic interference. The field test results showed that the distance of remote control is more than 150 m. The video transmission is stable and non-disruptive, and the deviation is less than 0.2m for straight driving. The turning radius is less than 1.9m. It is shown that the system can meet the operational requirements of agricultural machinery.