The invention belongs to the field of automatic processing, and particularly discloses a robot deburring method based on a 3D laser scanner. The method comprises the following steps that a robot grabsa debugging workpiece to move in the visual field range of the 3D laser scanner according to a preset track to obtain a contour point cloud data Pri of the debugging workpiece; the debugging workpiece moves to the position of a tool for teaching programming to obtain a deburring track point coordinates Pj; a to-be-cleaned workpiece is grabbed to move in the visual field range of the 3D laser scanner to obtain a point cloud data Pwi of the to-be-cleaned workpiece in the same manner; the Pri and the Pwi are converted into a robot tail end coordinate system, and a position deviation matrix T andan attitude deviation matrix R are registered to obtain; the Pj is corrected by utilizing T and R, and the corrected deburring track point coordinates Pj' is obtained; and the robot clamps the to-be-cleaned workpiece to move relative to the tool to achieve deburring treatment according to the Pj'. The method has the advantages that the automation degree is high, the consistency of the parts afterdeburring is good, the deburring efficiency and the percent of pass are improved, and the pollution to the environment caused by the dust is reduced.