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We perform numerical simulations to study the secular orbital evolution and dynamical structure of the quintuplet planetary system 55 Cancri with the self-consistent orbital solutions by Fischer and coworkers. In the simulations, we show that this sys-tem can be stable for at least 108 yr. In addition, we extensively investigate the planetary configuration of four outer companions with one terrestrial planet in the wide region of 0.790 AU ≤ a ≤ 5.900 AU to examine the existence of potential asteroid structure and Habitable Zones (HZs). We show that there are unstable regions for orbits about 4:1, 3:1 and 5:2 mean motion resonances (MMRs) of the outermost planet in the system, and sev-eral stable orbits can remain at 3:2 and 1:1 MMRs, which resembles the asteroid belt in the solar system. From a dynamical viewpoint, proper HZ candidates for the existence of more potential terrestrial planets reside in the wide area between 1.0 AU and 2.3 AU with relatively low eccentricities.