Provided are a connection establishment method, a server, an accessed node, an access node, and a storage medium. The method includes: receiving a connection establishment request from an accessed node, establishing a connection to the accessed node, and acquiring accessed connection information of the accessed node; receiving an accessed address request from an access node and determining access connection information of the access node; sending the access connection information to the accessed node so that the accessed node opens up a connection channel between the access node and the accessed node according to the access connection information; and sending the accessed connection information of the accessed node to the access node so that the access node establishes a connection to the accessed node according to the accessed connection information in the case where the connection channel is opened up.