The invention discloses a motion and speed control method of a bionic jellyfish like underwater robot, and belongs to the field of bionic robot control. An existing non-linear oscillator has the slowfrequency and amplitude convergence rate in bionic robot rhythmic movement control, and a corresponding speed control method is lacked. According to the motion and speed control method of the bionic jellyfish like underwater robot, a bionic jellyfish power model is designed, oscillator models of bionic jellyfish joints are built, and the waveform of oscillators is changed; the coupling manner between the two oscillators is designed, accordingly, the coupling manner between the oscillators is determined, coordination between the joints where the oscillators are located is achieved, bionic jellyfish motion control is achieved, according to the motion control, the frequency and average speed change curve is drawn, the corresponding motion frequency is found, the periodic speed change curve iscalculated to serve as the expected speed, and according to the expected speed, speed is controlled. According to the algorithm, the bionic jellyfish motion convergence is good, and the motion speedcan be stably controlled.