The invention provides a parcel falling method of a parcel sorting system, a sorting robot and the sorting system. The method comprises the following steps that a conveying device is provided; the conveying device accepts a parcel and moves to a delivery target; and the conveying device is used for delivering the parcel to the delivery target when moving to the delivery area, wherein the movementspeed of the conveying device at the time of delivery of the parcel is not equal to zero. According to the method, the conveying device completes the parcel delivery in the motion state, so that the stopping and accelerating operation of the conveying device is omitted, and thus the energy loss of the conveying device is reduced and the sorting efficiency is improved.