After days of investigation, the issue is cased by the Scvmm console version. SCVMM console must be the same version as SCVMM server.
In order to integrate TFS with SCVMM:
- Install the SCVMM console on TFS server
- The SCVMM console version should be same as the version of SCVMM server
Now we setup an SCVMM 2012 server, use the SCVMM 2012 console on TFS to connect to the SCVMM 2012 server successful.