The invention relates to a stability control method for a time-delay-variable bilateral teleoperation system. Models of two main ends and an auxiliary end of the bilateral teleoperation system are established; according to three coexisting channels, each channel transmits speed and force information to the opposite side, a wave variable method is used to ensure the channel stability in each channel, and channel stability controllers are designed; and a time delay is predicted, an obtained time variable gain is input to the two channel stability controllers, and stability control of the time-delay-variable teleoperation system is realized. The method is easy to realize and apply, and can be mainly applied to stability control of the time-delay-variable bilateral teleoperation system. The method has high robustness for linear and nonlinear teleoperation systems, and the time delay prediction method can be used to obtain an extremum of a time delay change rate easily.