The invention relates to an autonomous type robotic fish comprising a main sealed cabin body. Both sides of the main cabin body are respectively connected with pectoral fins through dynamic sealing devices; the rear end of the main cabin body is connected with a sector tail fin through an upper connecting rod and a lower connecting rod; a dynamic sealing structure is arranged between the upper connecting rod and the tail fin driving output end of the main cabin body; the main cabin body comprises an upper shell and a lower shell, wherein the upper shell is hermetically connected with the lower shell; the upper shell is internally provided with a control device and a communication module; the front part of the lower shell is provided with a camera rotation mechanism; the middle of the lower shell is provided with a left pectoral fin propelling mechanism and a right pectoral fin propelling mechanism which are symmetrically distributed; the rear part of the lower shell is provided with a tail fin propelling mechanism; a logic power supply is arranged below a steering engine of the tail fin propelling mechanism; a dynamical power supply is arranged below a seal box of a control plate and above the steering engines of the two pectoral fin propelling mechanisms; and one side of the steering engine of the tail fin propelling mechanism is provided with a power supply module. The invention adopts multiple biomimic propelling modes, has multiple motion modalities in a water environment, can freely switch and realize the functions of autonomous positioning and decision making, and the like and be widely used for tasks of environmental monitoring, submarine survey, salvage salvation, military reconnaissance, and the like.