The invention provides a robot terminal and server instruction synchronization control method, device and system. The method comprise following steps that: firstly, a controller receives first instruction data sent by a server; first time stamps are carried in the first instruction data; the first instruction data are used for controlling robot terminals to execute corresponding motions at the time corresponding to the first time stamps; secondly, whether the first time stamps in the first instruction data are overdue is judged; when the first times are overdue, the instruction data sent by the server again are received until the second instruction data carried with unexpired second time stamps are received; finally, according to the second instruction data, the robot terminals are controlled to execute corresponding motions at the time corresponding to the second time stamps; therefore, the robot terminals and the instruction data sent by the server are synchronized; the robot terminals can be synchronized with the stated time set by the server and execute stated motions corresponding to the time; the working efficiency of the robot terminals is improved; and the work coordination capability of multiple robot terminals is improved.