The invention discloses a bionic crawling robot based on an electromagnetic driving principle. The bionic crawling robot based on the electromagnetic driving principle comprises a bottom plate structure, side plate structures, top plate structures, an external extending beam structure, supporting legs, a permanent magnet, a coil with an iron core and a supporting plate structure; the bottom platestructure, the side plate structures and the top plate structures are connected and fixed in an inserted manner to provide positioning and supporting for the whole structure; the external extending beam structure consists of two parallel SMA wires and is positioned by means of small holes in the side plate structures; the supporting legs comprise one pair of front legs and one pair of rear legs; the front legs and the rear legs are correspondingly bonded on the two sides of the external extending beam structure and the side plate structures; the permanent magnet is fixed at the middle part ofan external extending beam and is opposite to the coil with the iron core, which is bound on the supporting plate structure. After alternating current is applied to the coil, the permanent magnet drives the external extending beam structure to vibrate under an effect of an alternating electromagnetic force so that the front legs can swing to drive the whole mechanism to advance. The bionic crawling robot based on the electromagnetic driving principle has the advantages of simple structure, light weight, easy micromation and high moving speed.