The invention discloses a bionic crawler-type adhesion walking mechanism and a moving method thereof. The bionic crawler-type adhesion walking mechanism comprises a machine frame, a tensioning mechanism, a driving mechanism and an adhesion belt, wherein the driving mechanism comprises a driving motor, a driving motor gear, a driving wheel and a driven wheel; the driving wheel is connected with one end of the machine frame through a gear shaft; the driven wheel is connected with the other end of the machine frame through a driven wheel shaft; the driving motor gear is driven by the driving motor; the driving motor gear is meshed with the gear shaft; the tensioning mechanism comprises a tensioning wheel frame, a tensioning spring, a miniature force sensor, a tensioning wheel and a sleeve; the tensioning wheel, the driving wheel and the driven wheel are connected through the adhesion belt; the tensioning mechanism further comprises a mechanism connecting device arranged on the machine frame. A certain tangential displacement and a posture angle are outputted by a robot body, so that the adhesion, detachment and pressing of soles are realized and the walking and halting of a robot on a wall are assisted.