The invention belongs to the technical field of electromagnetic propulsion, in particular to an electromagnetic actuator of a capsule robot. The electromagnetic actuator of a capsule robot comprises a stator and a rotor, wherein the stator comprises brackets, a casing, a coil and a gasket, and the rotor comprises a magnetizer, a magnetization gasket, magnetic steel and a magnetization end cap; the magnetizer is arranged in the casing of which two ends are provided with the brackets; the magnetizer is provided with the magnetization end cap; a plurality of magnetic steel and magnetization gaskets are arranged at interval in the space formed by the magnetization end cap and the magnetizer; a plurality of coils and gaskets are arranged at interval among the magnetic steel, the magnetization gaskets and the magnetizer; the magnetizer, the magnetization end cap, the magnetic steel and the magnetization gaskets can carry out axial reciprocating motion relatively to the coil and the gaskets; and the brackets on two ends are respectively abutted with the coils. The invention has the advantages of simple structure, small volume, large output force, low power consumption, high utilization ratio and the like.