The absence of an appropriate low-frequency vibration velocity detection method to establish feedback control limits the further improvement of the low-frequency vibration performance of electromagnetic vibration exciters. In this article, a low-frequency vibration velocity feedback control method based on the Kalman filter estimation is proposed for the first time to reduce the total harmonic distortion of the vibration waveform. The rationality of establishing velocity feedback control in the velocity characteristic band of the electromagnetic vibration exciter is analyzed. Based on an identification model of the system and measured vibration displacements, the vibration velocity is estimated with high accuracy through the Kalman filter. The velocity feedback control system is established to suppress the impacts of disturbances effectively. Experimental results show that the method proposed in this paper can reduce the harmonic distortion of vibration waveform by 40%, which is 20% higher than the traditional control method, thoroughly verifying its superiority.