By combining with the angular rate feedforward controller and a load torque observer, a composite compensation method for the load torque of an active magnetic bearing was proposed to improve the suspension accuracy of the magnetically suspended rotor in a Double-gimbal Magnetically Suspended Control Moment Gyro(DGMSCMG). The dynamical model of the magnetically suspended rotor in the DGMSCMG was established, and the load torque of the active magnetic bearing with inner and outer gimbal movements was analyzed. Then the composite compensation control method based on the angular rate feedforward controller and the load torque observer was designed, and the system stability after compensation was discussed. Finally, the performance of the proposed method was verified by a prototype developed by the our laboratory. The experimental results show that the displacement jitters at the end Ax of the rotor have reduced to 44.8% when angular rates of the gimbal starts from 120(°)/s2 to 10(°)/s. Moreover, the displacement jitters have reduced to 23.4% and 35.5% at the end Ax and end By of the rotor when angular rates of the gimbal are excited by the sinusoidal signal with the amplitude 10(°)/s and frequency of 10 Hz,respectively. The results indicate that the proposed method increases the control accuracy of the magnetically suspended rotor with the load torque by gimbal movements.