The invention provides a pipeline detection robot based on probe detection, belonging to the technical field of pipeline leakage detection. The pipeline detection robot comprises a machine body, a pressure balancing contraction air bag, a switching interface, a hose, a storage battery, a travel mechanism and a rubber cup. The pipeline detection robot detects a leakage point on the inner wall of apipeline through a probe of a leakage point detection device, records a displacement through a mileage wheel when the detection device works, and balances an internal and external pressure differenceof the leakage point detection device through the pressure balancing contraction air bag. The pipeline detection robot disclosed by the invention does not require power, has a simple structure and strong practicability, and can be widely applied to detection of petroleum and nature gas pipelines.