The invention discloses a method for real-time synchronization and dynamic compensation between chain Ethernet nodes. The method is simple, convenient and lower in cost, and fewer software and hardware resources are occupied. The method comprises the following steps that: 1, a master node starts enumerating each slave node; 2, a zero node which is the first of the slave nodes starts a cycle timer, and implements management over a bus cycle in a way of cyclically transmitting a synchronization packet; 3, the synchronization packet starts delay measurement modules of the slave nodes for timing, and is continuously transmitted until being transmitted to the last slave node; 4, the last node constructs and uploads a standard Ethernet data packet; 5, each slave node stops the timing when receiving a returned packet, and starts a local distributed clock by taking a half of a measured value as an initial value; and 6, after completely receiving control data, the slave nodes generate synchronous signals when the time of each synchronization clock is the same, execute corresponding operations, latch a current state and wait for uploading.