Provided is a human body imbalance monitoring method based on an improved ZMP theory. Firstly, three-dimensional position information of whole human body skeletal nodes is extracted, and the mass foreach body segment of a human body model is configured; by means of a spatial position and the mass of each body segment of a human body under the walking state, movement velocity and acceleration information of each body segment are obtained according to difference of the spatial position of each body segment on a time, inertial force information of each body segment is obtained, and a dynamic multi-rigid human body model is constructed; the position of the zero-moment point (ZMP) of the dynamic multi-rigid human body model is calculated, a dynamic support zone when the human body walks is constructed, the position of the dynamic multi-rigid human body model ZMP is matched with the position of the dynamic support zone to determine whether or not the ZMP is located in the dynamic support zone, and if the ZMP is located in the dynamic support zone, it is determined that the human body is balanced in walking; if the ZMP is located outside the dynamic support zone, it is determined that the human body is unbalanced in walking. According to the human body imbalance monitoring method, the human dynamic support zone and the ZMP theory are combined to perform monitoring on the human body walking state, and the method is suitable for stability judgment of the human body walking state.