To improve the high-frequency performance of motion control for electro-hydraulic proportional servo systems, by employing a first-order inertia process to characterize the valve dynamics, and integrating the command filter control and adaptive technology, a time-varying parameter adaptive command filtered control method is proposed for electro-hydraulic proportional servo systems, where unknown time-varying parameters and unknown time-varying disturbances can be handled simultaneously. In addition, by constructing a command-filtered auxiliary system, the effect of filtering errors on the control performance can be eliminated, and the differentiation explosion problem in the traditional backstepping design can be effectively shunned. The theory shows that the proposed method can not only ensure that all signals of the closed-loop system are bounded, but also ensure that the tracking error can be asymptotically convergent. Comparative experimental results also verify the superiority and high-frequency tracking performance of the method. Compared with the control method without valve dynamic compensation, the frequency bandwidth of the proposed method is increased by about 1.56 times.