The invention provides an underwater vehicle three-dimensional route planning method based on a cuckoo search algorithm and belongs to the technical field of underwater vehicle three-dimensional route planning. In detail, according to the problems existing in underwater vehicle three-dimensional route planning, the method includes the five basic steps of modeling, initializing the cuckoo search algorithm, updating the positions of cuckoo nests, selecting the global optimum position, judging an end condition and outputting the optimum route. According to the method, simplicity, high efficiency and global searching capacity of the cuckoo search algorithm are utilized well. Compared with a traditional underwater vehicle route planning method, the underwater vehicle three-dimensional route planning method is higher in intelligence and adaptability and is higher in flexibility and easier to implement compared with other intelligent optimization algorithms; the process of route planning is performed in a three-dimensional environment, a planned route is higher in practicability compared with a route planned in a two-dimensional environment, and the navigation requirements of an underwater vehicle can be met very well.