The invention discloses a robot behaviour multi-level integrated learning method and a robot behaviour multi-level integrated learning system and relates to a robot behaviour control technology. The robot behaviour multi-level integrated learning system comprises a data sampling module, an unsupervised learning module, a supervised learning module, a motivation learning module and a command output module, wherein the data sampling module is used for inputting the information data of a robot; the unsupervised learning module acquires an environment mode characteristic vector which is used for representing the real-time change of an operating environment of the robot; the supervised learning module maps the environment mode characteristic vector into a motion command of a required behaviourof the robot in a real-time on-line mode by using the environment mode characteristic vector as an input signal; and the motivation learning module carries out real-time on-line optimization and accurate setting on parameters of a robot behaviour controller to make the controller operate reliably and stably. The method and the system provided by the invention can be applied to different types of robots which are capable of learning new robot behaviours and optimizing the conventional robot behaviours to adapt to the dynamic change of the operating environment, so that the intelligent and self-control capability of the robot is improved, the generality of the learning system is improved, and the design of the controller is simplified.