The invention discloses an on-cable walking-type self-walking system which comprises a guide beam (100), a walking frame (300) which is arranged on the guide beam and can move on the guide beam, two supporting legs (200 and 400) which are arranged on two ends of the guide beam, a walking cylinder (500), a hydraulic system, and the like, wherein the front side and the back side of the lower part of the walking frame are provided with two sets of automatic cable clamping devices (310 and 320) which can form the support on a cable, the supporting legs are respectively provided with a lifting cylinder (310) which is vertically arranged, one end of each lifting cylinder is connected with a supporting leg outer sleeve (201) for fixing the guide beam, the other ends of the lifting cylinders are connected with supporting leg inner sleeves (204) for fixing automatic cable clamping devices (210 and 410), one end of the walking cylinder (500) is connected with the guide beam, and the other end of the walking cylinder (500) is connected with the walking frame. The on-cable walking-type self-walking system disclosed by the invention does not need to be additionally provided with drawing equipment, and accessories for mutually high-altitude disassembling, assembling and carrying cable-clamping hoops, and the like, and has the advantages of self-walking, high automation degree, quick walking speed, and high safety.