The invention discloses an electro-hydraulic drive pipeline robot, a hydraulic drive system and a control method thereof. The electro-hydraulic drive pipeline robot comprises a robot body and two hydraulic telescopic motion modules; each hydraulic telescopic motion module comprises a first reciprocating hydraulic cylinder, a second reciprocating hydraulic cylinder and a supporting hydraulic cylinder arranged in the robot body in a sliding manner, the first reciprocating hydraulic cylinders and the second reciprocating hydraulic cylinders are both arranged in the robot body, a cylinder body ofeach supporting hydraulic cylinder is connected with a piston rod of the corresponding reciprocating hydraulic cylinder, a set of supporting arm assemblies are hinged between piston rods of the reciprocating hydraulic cylinders, a set of supporting arm assemblies are hinged between piston rods of the supporting hydraulic cylinders, an opening is formed in the robot body, and the supporting arm assemblies extend out of the opening. Under the condition that the hydraulic drive capacity and the power are not increased, continuous motion is achieved so as to achieve rapid walking, and dual-way motion capacity is achieved.