The invention discloses a driving device, a diagonal wheel device and a motion control method of the diagonal wheel device. The diagonal wheel device is on a rectangular motion platform. Two positionson one diagonal are provided with driving wheels with steering motors and driving motors, and follower wheels are installed at two positions on the other diagonal. The control method comprises the following steps that steering of the steering motors and rotating speed of the driving motors at the two positions are controlled by a controller correspondingly so as to control the direction and the wheel speed of the corresponding driving wheels through the steering motors and the driving motors, so that the motion platform is driven to move. By means of the above method, quality distribution canbe coordinated, and a variety of driving control modes are achieved.