The invention discloses a steam generator secondary-side tripod head type wall climbing detection robot in a nuclear power station. The steam generator secondary-side tripod head type wall climbing detection robot in the nuclear power station comprises a vehicle body, a driving mechanism, a multi-degree-of-freedom tripod head detection mechanism and a camera, wherein the vehicle body is provided with a connector for plug-in connection; the driving mechanism comprises permanent magnet driving wheels and a first motor connected with the permanent magnet driving wheels; the multi-degree-of-freedom tripod head detection mechanism comprises a support part, a vertical pitching and rotating part, a horizontal revolving part, a second motor and a third motor, wherein the support part is provided with a plug-in connection end corresponding to the connector, the second motor controls the vertical pitching and rotating part to rotate in the vertical direction, and the third motor controls a horizontal revolving part to rotate in the horizontal direction; the camera is nested in the horizontal revolving part and provided with a light compensating lamp; due to the arrangement of the vertical pitching and rotating part capable of rotating in the vertical direction in a pitching manner and the horizontal revolving part capable of rotating in the horizontal direction, the camera is enabled to accomplish high precision detection at a time, and the detection efficiency and the accuracy are improved greatly.