Hydraulic manipulators have highly non-linear dynamics. In this paper, the position tracking control of hydraulic manipulators is investigated. The model considers manipulator dynamics, hydraulic actuator dynamics, and the friction effect of the actuators. A control scheme using a high-order terminal sliding mode (TSM) control method is proposed. Two explicit TSM control laws are derived for position tracking control. Both control laws globally finite-time stabilize the tracking error system. Compared with the conventional control methods, the proposed high-order TSM control scheme can provide a faster convergence and a higher tracking accuracy. Numerical simulation results demonstrate the effectiveness of the proposed scheme.