The invention, which belongs to the technical field of the marine aircraft maneuverability model, provides an on-line identification method for a yawing response parameter based on an integral method,wherein the method is suitable ships and wave gliders. The time length of an integration interval is set and a response equation is controlled to carry out time integration to obtain an integrated ship manoeuvring response equation; a criterion function is set and relative weights of parameters in the criterion function are adjusted based on a weight coefficient; and then a minimum value of the criterion function is calculated based on an estimated value of a main parameter at a current time, a step factor is added and the estimated value of the main parameter at the current time is correctediteratively, and the steps are repeated until an estimation process ending instruction is received, so that the main parameter controls all to-be-estimated parameters in the response equation in theestimation process in a traverse manner. According to the invention, the yawing response parameter is corrected in real time based on the actual navigation data, so that the difficulty of mechanism modeling is eliminated and the true reflection of the yawming response parameter on the maneuvering performance of the ship or wave glider is ensured.