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In order to solve the real-time and accuracy problem of motion control system in outfield test, a motor motion control system based on ethernet transmission by field programmable gate array (FPGA) was proposed. Remote control of multiple DC motor directions, speeds, positions, etc. was accomplished through the upper computer, achieving the combination of software and hardware. By using YT8511/H chip, RGMII interface, and Altera official IP core, a high-speed Ethernet communication interface for FPGA was built. Besides, the UDP communication protocol was realized applying a three-stage machine and the motor position feedback was completed through a incremental photoelectric encoder. Based on Verilog hardware description language, the motor driver program and encoder signal processing program were written, and the system communication, output pulse and encoder signal processing were tested and simulated. The results indicate that the system meets the requirements of remote control and has good accuracy and portability. Also, the positioning accuracy can reach 0.09 °.