Disclosed are a control method and device for a wheeled robot drive motor and a wheeled robot. The control method comprises: determining the current rotation speed and the present current of a drive motor of a wheeled robot (S101); converting the present current into a two-phase rotation coordinate system (S102); adjusting a radial current component according to the difference between the current rotation speed and a pre-set rotation speed, and adjusting a vertical current component according to the correlation between the current output moment and a pre-stored moment-target vertical current value (S103); when the absolute value of the difference between the current rotation speed and the pre-set rotation speed is less than a first pre-set value and when the absolute value of the difference between the present vertical current component and a target vertical current value is less than a second pre-set value, determining an adjusted target current (S104); and determining a duty ratio of an electric motor according to the pre-set rotation speed, the current rotation speed and the adjusted target current (S105). An output power of the motor is improved by adjusting the radial current component, and the output efficiency of the motor is improved by adjusting the vertical current component, such that the output power of the motor is improved and the output efficiency of the motor is also improved.