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In view of the reliable contact problem of contact ultrasonic on-machine thickness measurement automatically, the contact force control method between the ultrasonic probe and the measured workpiece is proposed. The closed loop control strategy based on the real-time feedback of contact force is formulated. The calculation model of the normal contact force is set up. Impedance model for converting the contact force to the displacement correction of the machine and the contact force sliding mode variable structure controller are designe. The numerical simulation of the control model is carried out in the Simulink environment, the effectiveness of the proposed algorithm is verified. The accurate tracking control of the constant contact force in the ultrasonic thickness can be realized. The measurement experiments have been carried out in the developed measuring system. The results show that the control error of the ultrasonic measuring thickness is within 4N, and the contact state in the automatic scanning measurement process is maintained. Output signal of the ultrasonic sensor is stable and the thickness error of the measurement is reduced obviously.