Dual-arm robots possess exceptional collaborative capabilities and versatility, demonstrating broad application prospects across various fields. As a significant research area for dual-arm robots, the requirements for coordinated motion control are gradually increasing. In practical applications, robots inevitably encounter noise interference, which can lead to suboptimal performance in coordinated motion control. In this letter, cooperative motion control of dual-arm robots in the presence of harmonic noise is investigated. On the basis of the relative Jacobian method, an adaptive noise rejection strategy is proposed for cooperative motion control of dual-arm robots perturbed by harmonic noise. Such a strategy incorporates a compensator, which can simulate and suppress interference from harmonic noise. Theoretical analysis indicates that the Cartesian error generated by the proposed strategy exhibits convergence. Simulation and experiment results under a dual-arm system consisting of two Panda robot manipulators further verify the noise resistance and applicability of the proposed strategy with the existence of harmonic noise.