The invention discloses a walking device of a pipeline detection robot and mainly relates to the field of industrial robots. The walking device is applied to a measuring device of the pipeline detection robot, and solves the problem that the walking path length of a pipeline detection robot in the prior art cannot be accurately counted. The walking device is characterized in that the walking device comprises walking wheels, a stepping motor and a damping device; the walking wheels are fixed to the stepping motor through key shaft matching; the damping device is fixed to the stepping motor; thestepping motor is internally provided with a rotor, and the rotor extends out from two ends; the walking wheels are fixed to the two ends of the rotor; and according to the walking device, a drivingmotor of the detection robot is replaced by the stepping motor controlled by pulse signals, so that an operator can accurately control and count the traveling distance of the detection robot.