The invention relates to the technical field of substation intelligent control, and particularly relates to a substation intelligent auxiliary control system based on internet of things and three-dimensional visualization technology, which comprises a substation intelligent control terminal arranged inside the substation. The substation intelligent control terminal comprises a controller, the controller is connected with an upper computer via a data bus, and the controller is connected with a sensor module, an auxiliary system and a three-dimensional visualization module. By adopting the above structure, temperature and humidity inside the substation are detected through the sensor module, and related equipment inside the auxiliary system is controlled to work through the controller; and in addition, the operation condition inside the substation can be observed conveniently via the three-dimensional visualization module, and detailed places can be observed from each angle through controlling the motor to adjust a camera.