The invention discloses a soft body bionic robot based on pneumatic muscles. The soft body bionic robot based on the pneumatic muscles comprises at least three fixed plates and the pneumatic muscles rotationally connected among the fixed plates; at least three sets of pneumatic muscles connected in series are rotationally connected between the first fixed plate and the second fixed plate in parallel; each set of pneumatic muscles connected in series are composed of at least three layers of pneumatic muscles connected in parallel, each layer of pneumatic muscles connected in parallel and the corresponding next layer of pneumatic muscles are rotationally connected through the corresponding fixed plate, each layer of pneumatic muscles are composed of six pneumatic muscles connected in parallel, and the two ends of each pneumatic muscle are rotationally connected with the corresponding fixed plates; and six pneumatic muscles are rotationally connected between the second fixed plate and thethird fixed plate in parallel. According to the soft body bionic robot based on the pneumatic muscles, the pneumatic muscles serve as moving elements for execution, the function of completely simulating movement of soft body animals such as snakes, cuttlefish and elephant noses or soft body joints of animals, the structure is compact, clean and good in anti-explosion performance, and the soft body bionic robot based on the pneumatic muscles can be used in the fields of teaching demonstration, object carrying, obstacle crossing, mine clearance and the like.