The invention discloses a hexapod spider-like robot and a gait planning method thereof. The robot comprises a trunk, an end cover, a walking mechanism, an operation platform and a driving system, thewalking mechanism is connected to the trunk through bolts, and the operation platform and the driving system are placed in the trunk; the end cover is arranged on the trunk, and the operation platformand the driving system are closed; the trunk of the robot is of a rhombic structure design, the walking mechanism is composed of six identical legs which are evenly distributed on the two sides of the trunk, each leg is designed into a series connection mode of a three-connecting-rod structure, and each leg comprises three podites and three joints. The robot is compact in overall structure, reliable in performance, flexible to move, strong in adaptability to various complex terrains and capable of being widely applied to various fields.