The invention relates to a construction method and device of a three-dimensional semantic map, electronic equipment and a storage medium, and the method comprises the steps: obtaining an environment image set, carrying out semantic segmentation of the environment image set according to a trained semantic segmentation model, and obtaining a semantic image sequence; and projecting each frame of semantic image of the semantic image sequence to a pre-established three-dimensional coordinate system to obtain a first point cloud set, the first point cloud in the first point cloud set corresponding to each frame of semantic image; filtering the first point cloud set to obtain a filtered first point cloud set; clustering the first point cloud in the filtered first point cloud set to obtain a second point cloud set; and filtering the second point cloud set to obtain a three-dimensional semantic map. According to the invention, a color image sequence and a depth image sequence are combined as the input of the semantic segmentation model, so that the semantic prediction capability can be improved, filtering is carried out hierarchically based on the point cloud with semantics, the cache can be saved, and the real-time performance can be improved.