The rolling resistance between particles plays an important role in the stability of the particulate systems. In a conventional discrete element method, the rolling resistance model between particles is usually made of springs, dashpots, and sliders in the rotational direction. The particles rolling kinetic energy is dissipated by the viscous (moment) and friction forces. With this model, the viscous force (moment) is directly related to the rolling velocity. Consequently, the dynamic dissipation capacity of particles close to the static state becomes weaker with the rolling velocity decreasing. It is known that the time required to simulate a particle rolling with a velocity close to zero by using the traditional discrete element method is longer than the experimental results. To solve this problem, the mechanism of rolling resistance caused by material hysteresis is analyzed based on tribological principle, and a new discrete element model of hysteresis rolling resistance (HDEM) is established. A hysteresis spring with velocity-independent kinetic energy dissipation is proposed, and its constitutive law’s formula is derived. To verify the new rolling resistance model, the free-rolling of a single round particle specimen on a flat surface is measured through a physical experiment. The measured data are compared with the results simulated by the new rolling resistance model HDEM and the conventional rolling resistance model. The results show that the results based on HDEM are more consistent with the experimental data, and the particle oscillation frequency is in better agreement with the experimental phenomenon observed.