The drivetrain of high-power wind turbines has a large moment of inertia, and the risk of low-frequency torsional vibration is high under the action of random wind speed. The traditional torsional vibration control method of the drivetrain based on the determination of the torsional speed control target does not consider the influence of the random measurement noise introduced by the measurement equipment on the torsional speed, which may lead to a decrease in the control performance. Aiming at the uncertainty of torsion speed measurement, an active disturbance rejection control method for torsional vibration of large-scale wind turbine drivetrain was proposed, and a KF-ADRC torsional vibration controller was designed. The torsion speed of drivetrain was dynamically estimated through Kalman filter. Took the torsion speed as zero as the ADRC control target to control the electromagnetic torque of the generator and suppress the low-frequency torsional vibration of the drivetrain. The research results show that when the input signal of the conventional torsional vibration controller has random measurement noise, it will significantly reduce its performance, while the KF-ADRC torsional vibration controller can effectively predict the torsional speed of the drivetrain when the input signal has measurement noise, and can better achieve the low-frequency torsional vibration suppression effect of the drivetrain.