The invention discloses a distributed underwater robot control system and method. The control system comprises a shoreside controller and an underground controller, wherein the shoreside controller comprises a shoreside power supply, a voltage conversion and stabilization circuit I, a controller I, a storage unit I and a serial communication chip I; the shoreside power supply supplies power to thecontroller I through the voltage conversion and stabilization circuit I; the underwater controller comprises an underwater power supply, a voltage conversion and stabilization circuit II, a controller II, a storage unit II and a serial communication chip II; the underwater power supply supplies power to the controller II through the voltage conversion and stabilization circuit II; the serial communication chip I and the serial communication chip II communicate with each other through underwater sound modem; and the controller II controls underwater robots to act through a relay module. According to the system and method disclosed by the invention, the timeliness of control is ensured through the design of a delay compensation control method and the underwater communication distance can beup to 2000 meters, so that the larger-range and high-precision movement and posture control of underwater robots can be realized.