This article describes a double action hydraulic power take off for a wave energy converter of inverse pendulum. The power take off converts slow irregular reciprocating wave motions to relatively smooth, fast rotation of an electrical generator. The design of the double action power take off and its control are critical to the magnitude and the continuity of the generated power. The interaction between the power take off behavior and the wave energy converter’s hydrodynamic characteristics is complex, therefore a time domain simulation study is presented in which both parts are included. The power take off is modeled using AMESim®, and the hydrodynamic equations are implemented in MATLAB®; simulation is used to predict the behavior of the complete system. The simulation results show that the design of the double action hydraulic power take off for wave energy converter of inverse pendulum is entirely feasibility and its superiority has been verified by the preliminary experiments, especially compared with the existing single action power take off system.