Optical spin-orbit coupling is an important phenomenon and has fruitful applications. Here, we investigate the spin-orbit total angular momentum entanglement in the optical parametric downconversion process. Four pairs of entangled vector vortex modes are experimentally generated directly using a dispersion- and astigmatism-compensated single optical parametric oscillator, and for the first time, to the best of our knowledge, the spin-orbit quantum states are characterized on the quantum higher-order Poincaré sphere, and the relationship of spin-orbit total angular momentum Stokes entanglement is demonstrated. These states have potential applications in high-dimensional quantum communication and multiparameter measurement.