The invention discloses a flexible direct current power transmission system and a fault recovery method thereof. The flexible direct current power transmission system comprises a plurality of converter stations, wherein each converter station is connected with one or multiple direct current lines; a direct current circuit breaker and a fault recovery unit which are connected in series with each other are arranged on one side or two sides of the direct current lines; and the fault recovery units comprise resistors and mechanical switches which are connected in parallel. According to the flexible direct current power transmission system, by the arrangement of the direct current circuit breakers and the fault recovery units on the direct current lines, when a certain direct current line has faults and is needed to be put into operation, the corresponding fault recovery unit enables the line to be controlled to be charged, so that the phenomenon of over-voltage of voltage oscillation caused by empty charging of the direct current line is effectively avoided, and the disturbance in a direct current line fault recovery process is reduced; the system is simple in structure; the method is simple and reliable; the fault recovery process is simple and effective; and the flexible direct current power transmission system is applicable to engineering application and has good application prospects.