The invention relates to a kinetic modeling and target tracking control method of a multi-freedom binocular visual system. The target tracking control method based on a virtual mobile joint is provided for a target tracking control task of the system. According to the method, the virtual mobile joint is introduced into a multi-freedom arm of the binocular visual system, a variable d of the one virtual mobile joint is added to replace four parameters (ul, vl) and (ur, vr) of an image space of a binocular visual algorithm, inverse kinetic solution of the n-freedom binocular visual system is converted into inverse kinetic solution of the (n+1)-freedom arm, and inverse kinetic solution is carried out by utilizing a traditional D-H method. The problems of the target tracking control algorithm of the multi-freedom binocular visual system are solved, and the method has the advantages of low computational complexity and simple solution, and is applied to the target tracking control task of the three-freedom binocular visual system successfully.