The invention discloses a data communication method of a redundant CAN bus communication system. The method comprises the following steps: a sending terminal sends PDO messages containing a scrolling count value a on two CAN buses; when the sending terminal sends the PDO messages with the same message ID, each time a frame of the PDO message is sent, the scrolling count value a is increased by 1, the initial value of a is 0, the upper limit value of a is N, and when a reaches N, the count is restarted from 1; an expectation counter is arranged at a receiving terminal, and the count value b of the expectation counter indicates the scrolling count value of the PDO message that is expected to be received; when receiving a frame of the PDO message sent by the sending terminal each time, the receiving terminal firstly judges whether the message is valid; if the message is valid and a is equal to 0, b is set to 1; if the message is valid and b is less than N, b is updated to b=a+1, and if b is equal to N, b is set to 1; and when the receiving terminal receives the invalid messages, the invalid messages are discarded, and b is maintained to be unchanged. According to the data communication method disclosed by the invention, the shock of the old and new data generated by the receiving terminal can be avoided.