The invention provides a height adjustable omnidirectional wheelchair with a damping function, which comprises a middle chair body and two deformation traveling parts which are symmetrically arranged at both sides of the middle chair body and have the damping function; each deformation traveling part with the damping function comprises a rack, epicyclic gear train assemblies, an angle regulation device and a traveling assembly; each deformation traveling part is provided with two epicyclic gear train assemblies, the two epicyclic gear train assemblies are arranged symmetrically, and each epicyclic gear train assembly comprises a sun gear, a rotating arm, a planet gear and a damping element; the damping elements are respectively connected with the corresponding racks and the corresponding rotating arms, and each angle regulation device is connected with two sun gears; each angle regulation device can enable the two sun gears to reversely rotate so as to drive the planet gears meshed with the sun gears and the traveling assembly connected with the planet gears to reversely rotate to implement regulation on a height of the corresponding traveling part; due to existence of the damping elements, when the traveling assemblies are subjected to exogenous shocks, the rotating arms can elastically swing in a certain range, so that the traveling parts have damping performance; therefore, the height adjustable omnidirectional wheelchair can realize height regulation and has the damping function.