In the process of laser communication, due to the vibration of the satellite platform, the noise of the mechanical turntable, etc., there will be random angular jitter between the incident optical axis and the receiving optical axis, which affects the performance of the communication system. The effect of random angular jitter on the coupling efficiency of spatial light to single-mode fiber is studied. A closed-loop compensation system based on charge coupled device (CCD) camera and fast tilting mirror is proposed. The experimental platform is built in the laboratory to test the influence of different jitter amplitudes on the coupling efficiency of single-mode fiber, and the feasibility of the compensation system to improve the coupling efficiency is verified. Experimental results show that the closed-loop compensation system can increase the coupling efficiency by 24%. At the same jitter frequency, the compensation effect is more obvious when the jitter amplitude increases. The compensation system compensates for low-frequency jitter more effectively than the high-frequency. These studies provide data reference and technical support for solving the effect of random angular jitter on the coupling efficiency of single-mode fibers.