A loudspeaker diaphragm state estimation method includes: adjusting a weight value of a diaphragm displacement model by adaptive filtering until an error between an estimated value of a driving voltage of a loudspeaker and a measured value of the driving voltage is less than a predetermined threshold; estimating a diaphragm relative displacement of the loudspeaker according to the diaphragm displacement model corresponding to a final determined weight value; determining a diaphragm relative speed at a next moment based on an input current, a product value of a vector determined by an estimated value of a diaphragm relative speed and an estimated value of a diaphragm relative displacement, and a weight value vector obtained at a present moment; and determining an estimated value of the driving voltage using the estimated value of the diaphragm relative speed, the input current, and a DC impedance of the loudspeaker at the present moment.