The invention discloses a real-time control system and a real-time control method of an underwater robot video camera holder. The control system comprises a VR device for tracking the movement of a head, a video camera holder and a remote control platform, wherein the video camera holder is installed on an underwater robot body, and is used for receiving a control command sent by the remote control platform to achieve leftward and rightward rotation and pitching rotation of the video camera holder; an image collection device is also fixed on the video camera holder, and is used for collectingvideo images of an underwater working site and uploading the video image to the remote control platform while the video camera holder rotates; the remote control platform is used for sending the received video image of the underwater working site to the VR device for tracking the movement of the head, and meanwhile converts the real-time head posture information of the VR device for tracking the movement of the head into a corresponding control command to adjust the angle of the video camera holder in real time and the focal length of a zoom lens of an underwater video camera.