Attitude control system requires special working environment, so it is hard to actualize on the ground, which has brought a certain reliability risk to satellite. According to the characteristics of micro/nano-satellite, a set of semi-physical simulation system for attitude determination and control was designed and implemented. A digital model simulated the satellite attitude and orbit motion, a sensor model generated the measured data, an actuator model generated the control torque, a sensor simulator realized the communication protocol and finally this system realized the whole simulation of attitude control system. The system can be connected in the satellite control system loop to assess software and hardware of the attitude control system, and to verify the performance of the algorithm. The system was applied to validate the attitude control system of TianTuo-3 in ground simulation. The comparison with the on-orbit test data shows that the design of system is reasonable and the result of simulation is credible.