The invention discloses a biological micro-nano robot based on biological 3D printing and a construction method thereof. The biological robot mainly comprises a hydrogel micropipe, a counterweight head, a driving cell, a stimulating signal and a drug carrying unit, wherein the counterweight head is connected with one end of the hydrogel micropipe. The construction method of the robot comprises thestep of forming once by adopting an ionic crosslinking biological 3D printing extrusion forming technique, wherein the drug carrying unit is the hydrogel micropipe all of or part of which contains drug. The robot adopts driving modes that when the biological micro-nano robot is suspended in a liquid environment, the driving cell is inoculated in the connecting position of the counterweight head and the hydrogel micropipe so as to drive the robot to move; when the biological micro-nano robot makes contact with the solid surface, the driving cell can be inoculated in the head and tail of the hydrogel micropipe so as to drive the robot to move. The robot is degraded after performing a task, so that the damage to an applied organism can be greatly reduced, and drug delivery and release are realized.