The invention relates to a redundant robot dynamic obstacle avoidance route planning method using a pre-selected minimum distance index under an obstacle random motion environment. The method includes steps of using an oriented bounding box (OBB) to model a redundant robot and establishing the pre-selected minimum distance index; rejecting safe rod pieces through an intersection testing before a real-time distance is calculated; using a local mapping distance calculation method and target point coordinate values to directly obtain a real-time minimum distance and determining impact point positions in a local coordinate system of corresponding rod pieces; and on this basis, establishing obstacle avoidance gains and escape velocities relevant to the minimum distance and using a null space mapping matrix of the redundant robot to plan obstacle avoidance routes. According to the redundant robot dynamic obstacle avoidance route planning method, the safe rod pieces are rejected before dynamic obstacle avoidance planning, unnecessary trivial calculations are removed, a distance calculation method is optimized, planning efficiencies of dynamic obstacle avoidance are improved, and real-time requirements are met.