The invention relates to a ground level detection method based on binocular vision. The method includes the following steps: obtaining a left eye and right eye original image acquired by a binocular image acquisition device; preprocessing the left eye and right eye original image, and obtaining a dense disparity map through a stereo-matching technique; conducting an operation on the dense disparity map through characteristic operators, and obtaining a characteristic map; dividing the characteristic map into multiple area blocks; conducting binary classification on each area block, and determining whether the area block belongs to a ground level area; and post-processing the ground level area, eliminating connected domains that do not accord with conditions, and determining a final ground level area. The method is suitable for detecting ground levels in different ground level environments, can effectively handle detection problems of uneven roads, and can accurately deal with ground levels and barrier boundaries.