The invention discloses an amphibious all-terrain mobile robot control system which comprises an upper computer, a main controller, a vision system, a force sense system and a movement generating system. An Ethernet interface of the upper computer is connected with an Ethernet interface of the main controller through a network cable. A PXI bus interface of the main controller is respectively connected with a PXI bus interface of the vision system, a PXI bus interface of the force sense system and a PXI bus interface of the movement generating system through a PXI bus. The vision system is installed on the front portion of an amphibious robot body, and the force sense system is installed at the connection position between the amphibious robot body and a walking mechanism. A buoyancy controller in the movement generating system is fixedly bonded in the upper plane of the amphibious robot body, and three motors in the movement generating system are respectively connected with a driving shaft of a felly, a driving shaft of a sun gear and a driving shaft of a center gear of the walking mechanism of an amphibious robot in a linkage mode. The amphibious all-terrain mobile robot control system achieves the continuous and efficient all-terrain moving capacity of the amphibious robot.