The invention discloses a direction angle control method of an n-section pull-type moving robot during reverse motion. The pull-type moving robot is composed of a tractor and n sections of trailers at the rear end. The direction angle control method is characterized in that starting from the last section of the trailers, according to the rule that reference included angle and tracking error of behind trailers meet conditions of motion stability, reference included angle of previous trailers are derived, and a steering angle, related to current included angle of the n trailers, of the tractor is calculated finally, and the tractor moves according to the steering angle to drive the pull-type moving robot to stably move reversely. By the direction angle control method, the problem of direction tracking control of the robot with the n trailers is solved, and theoretical guidance is provided for reverse motion control of the n-section pull-type moving robot. The direction angle control method has remarkable beneficial effect and is suitable for application and popularization.