The invention discloses a multi-mode output method of an intelligent robot, and an intelligent robot system. The method comprises the following steps of analyzing current multi-mode interactive input to obtain a multi-mode interactive behavior that the robot currently needs to output; obtaining a multi-mode interactive instruction that the robot currently needs to output; when a simulative execution action of the robot is judged, based on the multi-mode interactive instruction, to exist, generating and outputting a matched simulative voice according to the simulative execution action. By using the method and the system, which are provided by the invention, the execution effect of the multi-mode interactive output of the robot can be promoted, the influences, which are generated to the multi-mode output of the robot, of a hardware structure and other output limits of the robot are reduced, the application range of the robot is expanded, and the user experience of the robot is improved.