The invention discloses a teleoperation bilateral control method based on self-adaption PD and fuzzy logic. Based on uncertain dynamics and kinematics modeling of a teleoperation bilateral control system, a self-adaption control algorithm based on fuzzy logic is provided for the friction and external disturbance generated when the teleoperation system makes contact with an unknown environment, and influences on the control performance of the system are eliminated. A self-adaption PD controller based on parameter estimation approximation and real-time updating is provided for uncertain dynamics and kinematics parameters existing in the teleoperation system and combined with a slave end of a fuzzy logic controller, and influences of uncertain parameters on the stability and tracking performance of the system are eliminated. A simulation experiment shows that the teleoperation bilateral control method provided by the invention has good stability and tracking performance.