In this paper, lossy compression based on Integer DCT (Discrete Cosine Transform) for haptic data is presented and implemented to an FPGA (Field Programmable Gate Array). The lossy data compression accomplishes to reduce data size of the haptic data. In the lossy data compression, DCT-based techniques are often used. The Integer DCT (IntDCT) achieves the operation of the DCT with the format of integer. The compatibility of the IntDCT with the FPGA is therefore high. The lossy compression method is applied to a bilateral control system and the efficacy is confirmed by experiments.