The invention discloses a robot fall prevention control method and a robot fall prevention control system. The robot fall prevention control method comprises the steps of: acquiring a three-dimensional dynamical reference model of a robot; simulating and predicting motion states of the robot according to the three-dimensional dynamical reference model and a received new motion state command, so as to calculate an optimal control strategy for fall prevention, wherein the optimal control strategy comprises an optimal control sequence of the robot; controlling safe switching of the motion states of the robot by means of the optimal control sequence; and acquiring an actual motion state of the robot in a new motion state, correcting the three-dimensional dynamical reference model according to the actual motion state and optimal control sequence, so as to obtain a more precise model and further obtain a more precise control strategy.