The invention belongs to the field of underwater robot navigation control, and particularly relates to a method for reducing roll and pitch of an AUV by using own horizontal rudders. The horizontal rudders based on a working principle of a zero speed fin stabilizer can achieve active stabilization of the roll and pitch motion at low speeds. According to the method, firstly the AUV with the horizontal rudders is used as a research object, a lift model of the horizontal rudders is established, then the stress and movement conditions of the four horizontal rudders in one cycle when the AUV is subjected to the roll and pitch motion are analyzed, the righting moment of the roll and pitch motion of the AUV is calculated, and then according to the movement of the horizontal rudders during the cycle when the AUV is subjected to the roll motion or the pitch motion, the interference force received by the AUV is combined with the righting moment generated by the horizontal rudders to summarize the method of reducing the roll and pitch by using the horizontal rudders. The method effectively improves the anti-interference ability of an underwater vehicle.