The present invention relates to the technical field of chemical medicine, and particularly provides preparation and applications of a tetrahydroquinoline-related bicyclic compound, wherein the compound has a structure represented by a formula I, and the compound and the pharmaceutically acceptable salt, the isomer, the racemate, the prodrug co-crystallized complex, the hydrate and the solvate thereof can effectively regulate ROR receptors and can be used for preparing drugs for treatment of ROR receptor regulation-related diseases, or preparing drugs for treatment of cancers, inflammatory diseases and autoimmune diseases. The formula I is defined in the specification.