The invention discloses a biomimetic climbing robot which consists of five joint modules and two clamp holder modules. Each joint module has a rotational freedom and is driven by a direct current servo motor. The joint module has such two kinds as I type and T type, and joint rotating shafts are parallel to and perpendicular to the axial line of a joint connecting rod respectively. All modules areconnected successively by snap rings in a series mode, with the sequence as follows: clamp holder, I type joint, T type joint, T type joint, T type joint, I type joint, clamp holder. The rotating shafts of three T type joint modules are parallel to each other and are mutually perpendicular to the rotating shafts of the I type joint modules at both ends. The robot can climb on a rod and a tree andin a truss with equal steps in modes of inchworm, torsion and reversal and has operating function. The robot is characterized by small freedom, easy construction, simple structure and control, strongclimbing capability, good applicability to climbing objects and the like, thus being capable of being applied to high-lift operation in such fields as the agriculture, forestry and building industries.