The invention provides a stepping type pipeline robot. The stepping type pipeline robot comprises a first body part and a second body part which are provided with supporting devices used for alternately supporting the pipe wall. A walking device used for changing the distance between the first body part and the second body part is arranged between the first body part and the second body part. Through the arrangement of the structure of the two body parts, a supporting quadrangle mechanism and the walking device changing the distance between the two body parts, stepping type walking of the pipeline robot in a pipeline is achieved. Compared with wheel type walking in the prior art, the structure has the beneficial effects that walking is more reliable, and influences from the terrain are weak. By adoption of the walking scheme, the integral structure can be better simplified.