A trajectory planning method, a computer-readable storage medium, and a robot are provided. The method includes: constructing a phase variable of a trajectory planning of a robot, where the phase variable is a function of two position components of a torso of the robot on a horizontal plane; and performing, using the phase variable replacing a time variable, the trajectory planning on a swinging leg of the robot in each preset coordinate axis direction. In this manner, the robot can no longer continue to follow the established trajectory after being disturbed by the environment, but make state adjustments according to the disturbance received to offset the impact of the disturbance, thereby maintaining walking stability and avoiding the problem of early or late landing of the swinging leg.