The invention discloses a multipath time delay estimation method and device, computer equipment, and a readable storage medium. The method comprises the steps: transmitting a distance detection signalto a detected object, and receiving a detection reflection signal returned when the distance detection signal meets with the detected object; extracting a first sampling point signal in each coded signal segment of the detection reflection signal, and carrying out the dispreading of the first sampling point signal in each coded signal segment; carrying out the correlation operation of a dispreading signal corresponding to the first sampling point signal in each coded signal segment with the distance detection signal, and determining a multipath time delay estimated value of the distance detection signal in a transmission path according to a correlation calculation result. The method avoids the off-chip and in-chip multipath interference through employing the first sampling point signal ineach coded signal segment, and achieves the quick and accurate obtaining of the time delay estimation and the distance of the detected object.