The invention discloses a connecting rod leg-imitated type travelling mechanism and method. The connecting rod leg-imitated type travelling mechanism comprises a main body, shafts and connecting rod mechanisms. The connecting rod mechanisms are connected with the shafts through crankshafts and symmetrically distributed on the two sides of the main body. Each connecting rod mechanism on each side comprises a forefoot connecting rod mechanism body and a hindfoot connecting rod mechanism body. The shafts comprise the front shafts and the rear shafts. One end of each crankshaft and the corresponding front shaft are in rotation pair constraint, and the other end of the crankshaft is connected with a corresponding short forefoot connecting rod and a corresponding long hindfoot connecting rod so that the short forefoot connecting rod and the long hindfoot connecting rod can be driven to rotate. The short forefoot connecting rod and a corresponding long forefoot connecting rod are in rotation pair constraint. Each long forefoot connecting rod and the corresponding rear shaft are in rotation pair constraint. The method comprises the following steps that the crankshafts drive the short forefoot connecting rods to start moving, and then other connecting rods are driven to move in sequence, so that the whole travelling mechanism moves forwards. The travelling mechanism is simple in structure, traveling can be completed through the simple crankshaft-connecting rod structure, and the connecting rod mechanisms have the characteristics of being capable of bearing large loads, convenient to manufacture and capable of reducing production cost and later maintenance cost.