Real-time Hybrid Testing (RHT) is a novel hybrid testing method for evaluating structural seismic performance. Even though implicit time-stepping approaches exhibit better stability, their applications to RHT are limited due to their difficulties. This paper firstly analyses limitations of two existing implicit RHT schemes for Multi-Degree of Freedom (MDoF) structures, and then proposes a new implicit RHT based on the nearly-complete delay compensation developed by authors formerly. Theoretical performance analysis and numerical simulations are performed following that. Numerical simulations show that the proposed scheme is endowed with better convergence speed and accuracy and incorporated delay compensation, which indicate that it is more suitable to RHT for MDoF systems.