Hybrid Multi-infeed HVDC (H-MIDC) transmission system is becoming increasingly attractive for bulk power transmission due to its high reliability, high capacity and relatively low cost of current source converter (CSC) as well as ease of ancillary service provision from the receiving-end voltage source converters (VSCs). For an H-MIDC transmission system, VSC and CSC have distinct characteristics of switching mechanism, electrical dynamics and power losses etc. Therefore this paper first studies the relationship between the power and DC voltage under system dynamic changes in the H-MIDC network considering control system effect, and then proposes an adaptive droop control (ADC) scheme to improve the VSC power dispatch.The proposed ADC scheme accurately designs and updates the droop characteristics based on the selected local system states. The control performance of the ADC scheme proposed in this paper has been verified in a four-terminal H-MIDC model simulated in Matlab/Simulink environment.