An adaptive fault-tolerant control scheme considering input and output constraints for uncertain active suspension system (ASS) with constraints is proposed. Firstly, a bounded constraint function is designed to constrain both the vertical displacement of the car-body and the tire in order to achieve a balance between ride comfort and tire grip. Then, to further improve the ride comfort, an adaptive fault-tolerant control law considering input constraint is proposed for the uncertain car-body subsystem, and the final control law is obtained by adding the bounded constraint function. Considering the unknown term caused by actuator fault and ASS uncertainties, the adaptive control is adopted to approach its upper bound. Meanwhile, the auxiliary system is introduced to compensate for input saturation. Finally, the stability of the ASS is analysed and the effectiveness of the proposed scheme is verified by simulation.