The present application relates to a method, apparatus and system for inspecting an object based on a cosmic ray, pertaining to the technical field of radiometric imaging and safety inspection. The method includes: recording (S110) a movement trajectory of an inspected object by using a monitoring device; acquiring (S120) information of charged particles in the cosmic ray by using a position-sensitive detector, the information of charged particles comprising trajectory information of the charged particles; performing (S130) position coincidence for the movement trajectory and the trajectory information to determine the object; performing (140) trajectory remodeling for the charged particles according to the information of charged particles; and identifying (S150) a material inside the moving object according to the trajectory remodeling. According to the present disclosure, pedestrians who are walking and moving are inspected by using the cosmic ray, and nuclear materials, drugs and explosive materials and the like carried by human bodies may be detected.