The invention discloses a milling-planing mechanical hydraulic walking driving antiskid system, which comprises a walking pump, a walking motor and a steering oil cylinder, and also comprises a rotating speed sensor, a motor displacement control valve group, an angle sensor, a flow dividing and collecting valve and a flow dividing and collecting valve group, wherein the rotating speed sensor collects the rotating speed signal of the walking motor; the motor displacement control valve group is used for changing the displacement of the walking motor; the angle sensor detects the angle signal of a steering oil cylinder; the walking pump is connected onto the walking motor of milling-planing machinery through the flow dividing and collecting valve; the walking motor regulates the rotating speed through the flow rate supplied by the walking pump regulated by the flow dividing and collecting valve and the displacement output by the motor displacement control valve group; the flow dividing and collecting valve group has the free wheel and forced flow dividing and collecting gear switching; the regulation switching of at least two free wheel and flow dividing states can be realized. The scheme has the advantages that the antiskid capability of a running system is improved; the hindrance effect of the flow dividing and collecting valve on the whole machine control system in the high-speed running and steering processes is avoided; the system stability is guaranteed.