The invention discloses a method for detecting and restoring the cycle slip of a GPS (Global Positioning System) carrier phase under dynamic environment, comprising the steps of: carrying out difference kalman filtering calculation by utilizing a double-difference code pseudo-range observed quantity so as to obtain two epoch GPS receiver coordinates; constructing a carrier phase cycle slip detection equation by utilizing the two epoch GPS receiver coordinates and two epoch double-difference carrier phase observed quantities, calculating the equation and computing a residual error RMS (Root Mean Square) value; comparing the residual error RMS value with a set threshold, if the residual error RMS is greater than the set threshold, determining that the cycle slip occurs, selecting a satellite combination with the minimum residual error as a combination without the cycle slip by taking five satellites as a combination so as to restore the cycle slip, and then ending; if the residual error RMS value is less than or equal to the set threshold, comparing the result deltaX of the calculated cycle slip detection equation with the set threshold, if the result deltaX is less than the set threshold, determining that no cycle slip occurs and exiting the cycle slip detection process; and if the result deltaX is greater than the set threshold, determining that the cycle slip can not be detected and quitting from the cycle slip detection process.