The invention relates to the field of truss robots and discloses an anti-collision detection method and device for a truss robot. The anti-collision detection method comprises the steps: acquiring a theoretical torque value of a joint shaft by virtue of a kinematic model and a kinetic model of the truss robot, and meanwhile, reading the actual torque value of the joint shaft; calculating the position following error of the joint shaft; establishing an anti-collision discriminant according to the theoretical torque value, the actual torque value and the position following error; and carrying out anti-collision detection according to the discriminant. The erroneous judgment for robot collision is effectively avoided, and the detection precision is improved.