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In this study, the speed control system of servo motor based on FPGA was constructed. A high precision optical encoder was selected as the position sensor. Combing with synchronous time signal, the closed-loop feedback control of the servo motor speed was established. Firstly, the data transmission between encoder and FPGA was carried out by RS-422 serial communication bus and ADM 3485 interface chip. Furthermore, the high-speed Ethernet data communication between FPGA and host computer was accomplished by using several Xilinx IP core, such as three-mode Ethernet MAC and GTP high speed serial transceivers. Moreover, 88E1111 PHY chip and UDP communication protocol were also implemented in this study. Finally, the design scheme was simulated by ChipScope Pro online logic analyzer. The simulation and experiment results showed that the control system has good control accuracy, response speed and execution ability of complex control algorithm, which achieves accurate control of the servo motor speed.