This paper investigates energy efficiency and dynamic behavior through simulation and experiments of a compact electro-hydrostatic actuator system (EHA) consisting of an electric motor, external gear pump/motors, hydraulic accumulator, and differential cylinder. Tests were performed in a stand-alone crane in order to validate the mathematical model. The influence and importance of a good balance between pump/motors displacement and cylinder areas ratios is discussed. The overall efficiency for the performed motion is also compared considering the capability or not of energy recovery. The results obtained demonstrate the significant gain of efficiency when working in the optimal condition and it is compared to the conventional hydraulic system using proportional valves. The proposed system presents the advantages and disadvantages when utilizing components off-the-shelf taking into account the applicability in mobile and industrial stationary machines.