The invention discloses a topology discovery method for an Ad Hoc network. The topology discovery method comprises the following steps of S1, acquiring a signal of the Ad Hoc network; S2, obtaining anenergy detection result of each signal; S3, dividing the frame into a data frame and a control frame according to the frame length; S4, obtaining the relay forwarding data frames according to the distance between the control frame and the data frame, and matching the time sequence diagrams of the rest nodes to obtain a multi-hop link; S5, obtaining a single-hop source data frame according to thedistance between the control frame and the data frame, and matching the time sequence diagram of the rest nodes to obtain a single-hop link; and S6, fusing the multi-hop link and the single-hop link in the form of an adjacent matrix to obtain a network topological structure chart. The method only needs to count the time sequence information of the MAC frame and classify the frame types, does not need to analyze the specific content of the frame, is good in recognition effect and fast in recognition speed, is suitable for most competition type MAC layer protocols adopting control frames to contend for channels, and is wide in application range.