A robot obstacle avoidance method, a robot controller using the same, and a storage medium are provided. The method includes: determining an influence value of an obstacle on a motion range of a joint of the robot according to a position of the obstacle in a workspace of the robot; establishing a state transition relationship of the robot by taking a joint velocity of the robot as a control target and a joint angular velocity of the robot as a control input quantity; and avoiding the robot from colliding with the obstacle during a movement process of the robot by performing a model predictive control on the robot according to the state transition relationship and the influence value. In the present disclosure, the influence of the obstacle on the motion range of the joint of the robot is fully considered.