The invention discloses a machine and depth vision fusion-based weld ultrasonic image defect identification method. The method comprises the following steps of performing ultrasonic imaging on a to-be-detected object by utilizing ultrasonic detection equipment; a defect labeling model is used for automatically positioning a welding seam area of the ultrasonic detection image; obtaining texture feature data of a weld seam image in the defect labeling image by using an image recognition technology, and performing category recognition on the texture feature data through a collaborative algorithm; and outputting an identification result to a front-end interface, and automatically describing the shape of the weld joint by utilizing cartographic software to realize weld joint defect identification of the to-be-detected object. According to the method, the defect area can be automatically positioned, various weld defects can be identified, the weld defect identification quality can be effectively improved, the identification speed can be increased, the dependence on artificial experience can be effectively reduced, the labor cost can be reduced, the identification process can be visualized step by step, the identification quality can be improved, the identification process can be obviously accelerated, and the identification efficiency can be improved. And the robot welding process speed is met.