The invention discloses a multi-directional peristaltic soft robot. The robot comprises an elastic ring, a disc chuck and a plurality of comb tooth electrostatic adsorption discs, wherein the comb tooth electrostatic adsorption plates are uniformly annularly distributed outside the elastic ring and are connected with the elastic ring; the disc chuck is arranged in the center of the elastic ring; and a plurality of uniformly distributed shape memory alloy wires are connected between the disc chuck and the elastic ring. According to the multi-directional peristaltic soft robot, the electrostaticadsorption mode with strong adsorption capacity is adopted, the adsorption stability is improved, adaptability to the wall surface is strengthened, and the wall climbing function is achieved; the size of the structure in the height direction is reduced, miniaturization and ultra-thinning are achieved, and meanwhile, the gap passing capacity of the robot is improved; the shape memory alloy wires are adopted for parallel driving, control is simple, and any movement in the two-dimensional plane can be realized; and the overall structure of the robot is soft, so that the resistance of the robot to the pressure is small and the robot can be compatible with an obstacle in a flexible deformation mode.