The invention discloses a multi-foot walking type pipeline detection robot which comprises a motor, a first speed reducer, a second speed reducer and a third speed reducer. The motor is used for driving a driving synchronizing wheel to rotate, and the driving synchronizing wheel is used for driving a driven synchronizing wheel to rotate through a synchronous belt. The driven synchronizing wheel isfixedly connected with the input shaft of the first speed reducer, and the output shaft of the first speed reducer is connected with a first steering device through a first mobile device. The two ends of the input shaft of the first speed reducer are respectively connected with the input shafts of the second speed reducer and the third speed reducer through a first cardan joint and a second cardan joint, and the output shaft of the second speed reducer and the output shaft of the third speed reducer are respectively connected with a second mobile device and a third mobile device. The second mobile device is connected with a second steering device, and the third mobile device is connected with a third steering device. The multi-foot walking type pipeline detection robot adopts a six-leg type structure and increases the stability of robot body during the robot moving. In the obstacle-crossing process of the robot, a camera does not vibrate up and down, and the image shooting effect is not affected.