The invention discloses a system and method for dynamically matching clamping force of a stacking robot. The system comprises an upper computer PC, a controller, a detection system and a clamp holder,wherein the detection system comprises a visual sensor, two distance measuring sensors S1 and an acceleration sensor S2, the visual sensor comprises a horizontal visual sensor Sh and a vertical visual sensor Sv which are arranged on one side and above a workpiece conveying belt respectively, and the distance measuring sensors S1 and the acceleration sensor S2 are arranged on the clamp holder. Dynamic automatic matching of the clamping force of the stacking robot is realized according to the geometric characteristics and the texture characteristics of a workpiece. According to the method, thephenomena of over-clamping and under-clamping in a workpiece dynamic pickup process are effectively avoided, and the method has practical engineering significance for energy-saving and consumption-reducing operation of intelligent stacking of a wood furniture production line.