Double-column bridge piers are prone to local damage during earthquakes, leading to the destruction of bridges. To improve the earthquake resistance of double-column bridge piers, a novel swing column device (SCD), consisting of a magnetorheological (MR) damper, a current controller, and a swing column, was designed for the present work. To verify the seismic energy dissipation ability of the SCD, a lumped mass model for a double-column bridge pier with the SCD was established according to the low-order modeling method proposed by Steo. Furthermore, the motion equation of the double-column bridge pier with the SCD was established based on the D’Alembert principle and solved with the use of computational programming. It was found that the displacement response of the double-column bridge pier was effectively controlled by the SCD. However, due to rough current selection and a time delay, there is a significant overshoot of the bridge acceleration using SCD. Hence, to solve the overshoot phenomenon, a current controller was designed based on fuzzy logic theory. It was found that the SCD design based on fuzzy control provided an ideal shock absorption effect, while reducing the displacement and acceleration of the bridge pier by 36.43%–40.63% and 30.06%–33.6%, respectively.