The invention discloses a snake-like robot hybrid three-dimensional gait control method. The snake-like robot mixed three-dimensional gait is three-dimensional movement generated by cross-mixing of basic motions such as plane wave motion, linear peristalsis, lateral winding and the like, and the device dominant mechanism is that different movement gait is adopted at different parts of the snake-like robot body. Different snake-like robot motions have different movement characteristics and terrain adaptability due to different movement mechanisms, the novel mixing can effectively integrate themovement characteristics and advantages of various gait, meanwhile, the disadvantages of the single gait are made up, and the snake-like robot can simultaneously have the advantages of multiple motiongait. According to the novel hybrid three-dimensional gait, the motion gait types of the snake-like robot can be expanded, the motion capability of the snake-like robot is greatly improved, and the flexibility and adaptability of the snake-like robot in different environments are effectively improved.