With the depth of the research of hexapod robots, new challenges have arisen in terms of designing their teleoperation system. To compensate for the influence of the soft contact condition on the stability and controllability of the system, a bilateral haptic teleoperation scheme is proposed based on the time-domain passivity control(TDPC) approach. In the teleoperation system, an approximate coordination of position-velocity is established between the master robot and the slave hexapod. Through analysis of the interaction mechanic of flexible contact between the foot and ground, a passivity observer and a passivity controller are designed at the environment termination for eliminating the potential activity. Additionally, the control architecture of the teleoperation system is designed based on the difference of velocity tracking, and the difference is fed back to the operator in the form of haptic force. The stability of the controller parameters is shown via the Llewellyn's criterion. Finally, a semi-physical simulation platform is developed. Experiments of the system demonstrate that the proposed method can ensure the stability of bilateral haptic teleoperation of hexapod robots with satisfactory tracking performance.