The invention brings forward a dancing robot indoor pedestrian tracing method based on a laser radar. The method comprises the following steps of: 1, laser data preprocessing; 2, density-based laser data clustering; 3, pedestrian identification based on laser acquisition points; 4, graphical display; 5, pedestrian tracking based on particle filtering; and 6, pedestrian movement track drafting. According to the invention, pedestrians with different forms at different distances are identified by use of a single laser radar, the pedestrians at different movement modes such as static, walking and the like can be tracked, the tracking scope is wide, the real-time performance is good, and the identification and tracking accuracy is high.