The invention belongs to the field of mining hydraulic motors, particularly discloses a walking type hydraulic cylinder motor. The hydraulic cylinder motor with equal distributed angles is simple in structure, convenient to operate, high in safety coefficient, long in service life, is capable of effectively reducing the accident rate under a coal mine. The hydraulic cylinder motor comprises a box body, three hydraulic cylinders, a crank shaft, a box body front end component and a control system, wherein an installing plate fixed together with a tractor is arranged at one side of the box body; the hydraulic cylinders are arranged in the box body side by side; the hydraulic cylinders do reciprocating motion to drive the crankshaft to do rotating motion and the crankshaft drives the control system to move; the control system is used for controlling the three hydraulic cylinders to do reciprocating motion so as to drive the crankshaft to do continuous rotating motion; the hydraulic cylinders drives the crankshaft to rotate and can be used as left and right input devices of the tractor and a crane so as to drive the tractor and the crane to move simultaneously.