With the rapid expansion of service and special-purpose robot applications, autonomous door-opening has become a fundamental capability for enabling high-level human-robot collaboration and environmental interaction. However, the inherent elasticity of doors often introduces continuous disturbances and excessive contact forces and torques, which degrade the robot’s control precision and stability. To enhance the response performance and control accuracy in such tasks, a door-opening strategy integrating compliant control, attitude adjustment, and velocity-direction fusion was proposed. An anisotropic second-order admittance control was designed to provide differentiated compliance characteristics of the gripping center along different directions. By incorporating torque feedback and angular velocity feedforward mechanisms, the control burden during rapid attitude adjustment was effectively reduced, thereby improving the system’s dynamic performance. In addition, torque control was introduced in the gripper coordinate system, and the rotation center was set at the gripping position to minimize the coupling interference of rotational motion on end translational motion. For trajectory generation, a real-time velocity-direction fusion algorithm was developed, which dynamically adjusted the angle between the current velocity and the filtered velocity to achieve smoother and more robust motion commands. Experimental results demonstrate that the proposed method successfully completed door-opening tasks under initial velocity angles of ±30°, with a maximum torque of only 0.7 N·m. It is concluded that the proposed strategy effectively balances compliance and control accuracy, exhibits strong adaptability to doors with elastic characteristics, and provides a reliable control scheme for autonomous robotic door-opening tasks.