This paper presents a hierarchical coordinated control for autonomous DC microgrid with photovoltaic and storage system. In order to assure the voltage stability, under the primary control, units including photovoltaic and energy storage system operate independently, and converters in each unit are responsible for voltage stability in turn under different operation modes. Multi-groups of batteries that equipped with self-adaptation droop control are used to stabilize voltage and the load power is dynamically shared by the batteries according to their states of charge and maximum power. Photovoltaic system is switched to droop mode to stabilize bus voltage when the charge power of storage system in autonomous DC microgrid is more than its maximum limitation, the load power is dynamically shared by PV units according to their maximum power and the voltage feed forward control is used to reduce voltage fluctuation through dynamical adjusting reference voltage of droop controller. In order to improve the system efficiency and enhance bus voltage stability, the supervisory control is designed to control operation modes of converters, which assures that there’s always have converters responsible for voltage stability through the droop control. Under the proposed hierarchical control, the autonomous DC microgrid runs in three different operation modes. The simulation results in Matlab software indicate the proposed strategy makes the DC microgrid operate stably. This work is supported by National Natural Science Foundation of China (No. 61403246), Innovation Program of Shanghai Municipal Commission (No. 15ZZ085), China Postdoctoral Science Foundation (No. 2014M560187), and Shanghai Green Energy Grid Connected Technology Engineering Research Center (No. 13DZ2251900).