The invention provides an industrial robot integrated dynamic modelling and dynamic parameter distinguishing method. The method comprises the steps that a robot dynamic model is established based on alagrange equation, an inertial load of an industrial robot is taken as a load item of the dynamic model, and when the load varies, the integrated dynamic model can be changed by only inputting a loadparameter; and a robot operating trajectory used for distinguishing experiments is designed, tail end connecting rods with the small mass and small length are distinguished first, and then front endconnecting rods with the large mass and large length are distinguished. By means of the method provided by the invention, the collision detection efficiency can be improved effectively, the robot dynamic model parameter distinguishing difficulty is increased, and an accumulative error of sequence distinguishing introduction is reduced correspondingly.