The invention proposes a motion control method in conditions with low-speed AUV trans-current propelling and without output. The method comprises the following steps: first, obtaining from a propeller open-water test the propelling force curve of the propeller to determine the rotation speed range of the propeller in conditions with output; then, using a fuzzy controller to seek the required rotation speed according to the heading deviation and the heading deviation rate wherein the required rotation speed is included in the rotation speed range obtained by the propeller open-water test; and finally, inputting the heading deviation and the heading deviation rate into a PID controller to seek the working time interval of the propeller for stable rotation speed. The propeller operates at the determined rotation speed at a given time interval to determine the speed, and drives the AUV to the target heading. Compared with the traditional control method considering the nonlinear constraints of a propeller, the method is convenient and efficient, and without the accurate modeling or approximate estimation of the nonlinear constraints of the propeller, a phase-step output controller determining the rotation speed of the propeller and its working time can be established directly from the accurate relationship between the rotation speed and the propelling force, therefore, increasing the response speed.