This paper proposes a rate control algorithm based on group of pictures (GOP) level quality dependency for high efficiency video coding (HEVC) low delay hierarchical coding structure. Firstly, this paper builds a GOP level quality dependency model. Secondly, a GOP level quality dependency model based GOP level rate-distortion optimization is introduced to make bit allocation more reasonable. Experimental results show that, compared with HM16.7 frame level rate control algorithm, proposed rate control algorithm shows 5.80% and 5.07% BDrate saving on average under low delay B and low delay P configurations.