Quantum Hamiltonian simulation, which simulates the evolution of quantum systems and probes quantum phenomena, is one of the most promising applications of quantum computing. Recent experimental results suggest that Hamiltonian-oriented analog quantum simulation would be advantageous over circuit-oriented digital quantum simulation in the Noisy Intermediate-Scale Quantum (NISQ) machine era. However, programming analog quantum simulators is much more challenging due to the lack of a unified interface between hardware and software. In this paper, we design and implement SimuQ, the first domain-specific language for quantum Hamiltonian simulation that supports pulse-level compilation to heterogeneous analog quantum simulators. Specifically, in SimuQ, front-end users specify the target quantum system with Hamiltonian Modeling Language, and the Hamiltonian-level programmability of analog quantum simulators is specified through a new abstraction called the abstract analog instruction set (AAIS) and programmed in AAIS Specification Language by hardware providers. Through a solver-based compilation, SimuQ generates executable pulse schedules for real devices to simulate the evolution of desired quantum systems, which is demonstrated on superconducting (IBM), neutral-atom (QuEra), and trapped-ion (IonQ) quantum devices. Moreover, we demonstrate the advantages of exposing the Hamiltonian-level programmability of devices with native operations or interaction-based gates and establish a small benchmark of quantum simulation to evaluate SimuQ’s compiler with the above analog quantum simulators.