Traditional hydro-pneumatic spring suspensions are limited to a single vertical degree of freedom, which cannot accommodate the significant technological changes introduced by the new in-wheel motor drive mode. Integrating the motor into the vehicle’s hub creates a direct motor drive mode, replacing the traditional engine–transmission–drive shaft configuration. Together with the dual in-wheel motor wheelset structure, this setup can achieve both drive and differential steering functions. In this study, we designed a six-arm suspension wheel-leg device based on hydro-pneumatic springs, and its structural composition and functional characteristics are presented herein. The external single-chamber hydro-pneumatic springs used in the six-arm structure suspension were analyzed and mathematically modeled, and the nonlinear characteristic curves of the springs were derived. To overcome the instability caused by inconsistent extension lengths of the hydro-pneumatic springs during horizontal steering, the spring correction force, horizontal rotational torque, consistency, and stiffness of the six-degree-of-freedom hydro-pneumatic spring wheel-leg device were analyzed. Finally, with the auxiliary action of tension springs, the rotational torque of the hydro-pneumatic springs and the tension resistance torque of the tension spring counterbalanced each other, keeping the resultant torque on the wheelset at approximately 0 N∙m. The results suggest that the proposed device has excellent self-stabilizing performance and meets the requirements for straight-line driving and differential steering applications. This device provides a new approach for the drive mode and suspension design of the dual in-wheel motor wheelset.