In this article, a new nonlinear disturbance observer (NDO) based fixed-time dynamic surface control (FTDSC) approach is developed to achieve desired trajectory tracking control performances of the pneumatic manipulator system driven by pneumatic artificial muscles (PAMs). To achieve active disturbance rejection, an NDO is proposed to estimate the unknown disturbances in the pneumatic manipulator system. Then, a fixed-time dynamic surface controller is introduced, and the variable gains are designed to achieve desired control performances. Finally, comparative simulations and experiments verify that the proposed approach is effective to achieve desired trajectory tracking control performances.