The invention discloses a dynamic concave obstacle crossing method for a quadruped robot, and belongs to the technical field of robot motion control. The method comprises the following implementationsteps that firstly, the dropping safety area aiming at a concave obstacle encountered by the robot is detected; secondly, the swinging leg track is re-planned; and finally a robot dynamic concave obstacle crossing stabilization controller is established by using the terrain attitude angle as an input. According to the method, the robot dynamic concave obstacle crossing stabilization controller isestablished, so that crossing of the concave obstacle is realized, and the walking efficiency of the quadruped robot to the complex obstacle pavement is improved.