The triangular damping groove on the valve plate can effectively reduce the discharge flow ripple of an axial piston pump, which structural parameters will directly affect the pump’s dynamic characteristics. Herein, a multi-parameter data-based structure optimizing method of the triangular damping groove is investigated using numerical models and simulation results. The mathematical models of a nine-piston pump are proposed and developed by MATLAB/Simulink, and the simulation results are verified by experimental results. Then, the effects of width angle and depth angle on discharge flow are analyzed. Based on the analysis of groove parameters, an optimizing index, which considering the time domain characteristics of discharge flow, is proposed. As results show, comparing with the initial specific groove structure, the amplitude of flow ripple is reduced from 14.6% to 9.8% with the optimized structure. The results demonstrate that the outlet flow ripple can be significantly reduced by the optimized structure, and the proposed multi-parameter optimizing method can play a guiding significance in the design of low-ripple axial piston pumps.