During the last decade, DC microgrids have been extensively researched due to their simple structure compared to AC microgrids and increased penetration of DC loads in modern power networks. The DC microgrids consist of three main components, that is, distributed generation units (DGU), distributed non-linear load, and interconnected power lines. The main control tasks in DC microgrids are voltage stability at the point of common coupling (PCC) and current sharing among distributed loads. This paper proposes a distributed control algorithm using the higher-order multi-agent system for DC microgrids. The proposed control algorithm uses communication links between distributed multi-agents to acquire information about the neighbors’ agents and perform the desired control actions to achieve voltage balance and current sharing among distributed DC loads and DGUs. In this research work, non-linear ZIP loads and dynamical RLC lines are considered to construct the model. The dynamical model of the power lines and DGU are used to construct the control objective for each distributed DGU that is improved using the multi-agent system-based distributed current control. The closed-loop stability analysis is performed at the equilibrium points, and control gains are derived. Finally, simulations are performed using MATLAB/Simulink environment to verify the performance of the proposed control method.