A robot walking monitoring system with a remote-range prewarning function is applicable to an automatically walking robot, and mainly comprises an indoor subsystem and an outdoor subsystem, wherein the outdoor subsystem is in a prewarning state firstly, collects the environmental information on the periphery of the robot to judge whether the robot automatically walking system goes wrong, if no fault, the outdoor subsystem is still in a prewarning state, otherwise the outdoor subsystem generates an alarming signal and transmits the alarming signal to the indoor subsystem in a wireless manner, and then brings into the monitoring state; and while the indoor subsystem receives the alarming signal and then makes an alarming sound to inform working personnel, and then the working personnel select a proper control mode to remotely control the walking of the robot according to the actual condition through information displayed by a video display window and a transducing signal indication window. The invention not only perfects the coordination of automatic control and monitoring of the robot, but also improves the safety, the practicability and the working efficiency of the robot.