The invention discloses a method for estimating an acoustic signal distance based on Beidou timing. A Beidou satellite navigation system is used for realizing high-precision clock synchronization between a beacon node and a tag node; and after the tag node receives transmission of a modulated acoustic signal by the beacon node, filtering, cross-correlation and multipath elimination are carried outto estimate an acoustic signal propagation delay to obtain a distance estimation value between the beacon node and the tag node. According to the invention, no extra synchronization node and multi-times interaction of acoustic signals are required; and the sub-meter-level ranging precision is provided with the low cost based on the Beidou satellite navigation system. The method is not only suitable for the outdoor environment with the strong Beidou signal but also suitable for an indoor environment with the weak Beidou signal.