Real-time command and data transfer are essential for autonomous underwater vehicle (AUV) motion control in underwater missions. Due to the limitations of underwater acoustic communication, which has a low data rate, this paper introduces a new control structure using underwater wireless optical communication (UWOC) to enable effective real-time command and data transfer. In this control structure, control inputs for the AUV attitude from outside of the water are transferred to the AUV for motion control, while its orientation data and visual images from the AUV camera are sent to the control station outside the water via the UWOC system. For demonstrating the performance of control action and data monitoring, an AUV is built with a constructed UWOC system, two vertical thrusters, and two horizontal thrusters. For attitude control of the AUV, an attitude heading reference system (AHRS) and a depth sensor are installed. Bi-directional communication in the UWOC system is achieved using a return-to-zero (RZ) modulation scheme for faster, longer-range data transfer. A signal processor converts sensor data received from the transmitted data. Finally, the hovering control performance of the AUV equipped with the UWOC system was experimentally evaluated in a water tank, achieving average root mean square errors (RMSEs) of 4.82° in roll, 2.49° in pitch, and 1.99 mm in depth, while simultaneously transmitting real-time motion data at 21.2 FPS with VGA-resolution images (640 × 480 pixels) at a communication rate of 1 Mbps.