The invention discloses a catamaran yawing response predication method for a wave glider and belongs to the field of wave glider control. The catamaran yawing response predication method for the waveglider comprises the following steps of (1) initializing state information; (2) inputting known rudder angle information and calculating submerged body yawing response value within an iteration step length according to a submerged body yawing response equation; (3) calculating an equivalent rudder angle Delta F of a floating body according to the current floating body heading and the current submerged body heading; (4) inputting the equivalent rudder angle Delta F of the floating body and calculating floating body yawing response values within an iteration step length according to a floating body yawing response equation, wherein the floating body yawing response values comprise a floating body heading angle, a floating body course changing angular velocity and a floating body course changing angle accelerated velocity; and (5) judging whether simulation is finished or not; and if the simulation is not finished, returning to the step (2); and if the simulation is finished, ending up. The catamaran yawing response predication method for the wave glider has the advantages that the steps are simple and effective; parameters of a model are of clearer physical significance; and the model is comparatively easily obtained and can also be used as a simulation platform for studying a motion control method.