The invention discloses a step counting and motion behavior recognizing method based on an acceleration sensor and an angular velocity sensor. The method comprises the following steps: step I: placing sensors in intelligent shoes, and acquiring acceleration and angular velocity information in a motion process of a human body, wherein a moving forward direction of feet is an X-axis positive direction, a leftward direction of the feet is a Y-axis positive direction, and a foot raising direction is a Z-axis negative direction; step II: carrying out smooth filtering and kalman filtering for the acquired data; step III: analyzing the smooth filtered data, and calculating a motion step number; step IV: segmenting the kalman filtered data to obtain a waveform of each step, analyzing a characteristic value of the waveform, and determining a motion state of the human body; and step V: obtaining the step number of the human body at various motion states based on the step III and the step IV, acquiring the waveforms of different motions in one period, and distinguishing the characteristic values of the waveforms so as to distinguish each motion.