The invention discloses an embedded under-actuated prosthetic hand control system based on CyberGlove. The embedded under-actuated prosthetic hand control system comprises the CyberGlove, an upper computer, a motor assembly and an integrated control unit, wherein the CyberGlove is used for providing original movement data of a human hand, the upper computer is used for wirelessly transmitting the original movement data and command control, the motor assembly is used for driving a prosthetic hand to conduct various movements, and the integrated control unit is embedded into the prosthetic hand in the form of a integrated circuit plate and comprises a wireless receiving and transmitting module, a motor speed detection module, a motor current detection module, a fingertip force detection module, a master controller and a power amplification module. Through the embedded under-actuated prosthetic hand control system, movement control over the prosthetic hand can be conveniently achieved with the compact structure, the detects that an existing prosthetic hand control system is limited to a small number of preset control modes and hardware circuits are excessively huge can be overcome, and meanwhile movement accuracy and applicability in kinds of practical application can be significantly improved.