The invention discloses a parameter self-adaptation system and method of a direct current motor current controller. Aiming at the problem which exists in the prior art that the self-adaptation process is complex and the self-adaptation effect is poor, the technical scheme is provided. According to the technical scheme, the method comprises the steps that 1, an on-line command planning unit plans three armature voltage commands for a direct current motor; 2, a motor parameter recognition unit recognizes values of armature resistance, armature inductance and back electromotive force coefficient of the motor; 3, a cut-off frequency estimation unit estimates cut-off frequency of the motor by combining the step 2 and a cut-off frequency estimation formula; 4, a current controller parameter calculation unit obtains a current controller parameter according to a current controller parameter calculation formula; 5, a current controller parameter evaluation unit slightly provides a space for a user for fine tuning of the parameters, and guarantees that a current step function response which satisfies the user is obtained. According to the parameter self-adaptation system and method of the direct current motor current controller, the self-adaptation process is simple and easy to achieve, because a motor mechanism model can be made full use of, the parameter evaluation unit is added, and the self-adaptation effect makes the user satisfy.