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The lateral vibration of high-speed train reduces the ride stability and passenger comfort. Semi-active suspension system is often adopted to suppress the lateral vibration of trains due to its low cost and low energy consumption in control, where magnetorheological (MR) damper is the main vibration absorber. In this paper, a full model of the controlled system that consists of the 3-degree of freedom train model and the hysteretic MR damper model is first built. Then, a second-order sliding mode (SOSM) controller is designed for the suppression of lateral vibration of train, where the hysteresis and non-hysteresis nonlinearities are addressed simultaneously and rigorously. Finally, comparative simulations are conducted under the excitation of the German low-interference track spectrum. The results show that the proposed controller can suppress the lateral vibration of high-speed train efficiently in the sense that, compared with the passive control, the internal model-based resonant control and repetitive learning control, the suspension ratio of root-mean-square of lateral acceleration is reduced by 96.98%, 35.70% and 10.54%, respectively. [ABSTRACT FROM AUTHOR]