The boundary problem of free vibrations of a hydraulic telescopic cylinder, subjected to Euler’s load was presented in this work. The task was formulated on the basis of the Hamilton’s principle. The computational model, formulated by Tomski, was taken into account during analysis. Numerical calculations concern free vibrations of multi-stage hydraulic telescopic cylinder. Results were presented in the form of characteristic curves on the plane: external load-natural vibration frequency. Non-dimensional parameters of the structure were defined in reference to the characteristic parameters of the piston rod. During numerical simulations, an influence of a non-dimensional stiffness parameter between following elements on free vibrations of a hydraulic telescopic cylinder was determined for a different number of cylinder stages.