The invention discloses an airport terminal service robot and a control method thereof. The robot comprises a body, a control system, an identity card identifier and a boarding card printer; the body comprises a chassis, a shell, two driving wheels and two driven wheels; the shell is arranged on the surface of the chassis; the two driving wheels and the two driven wheels are arranged on two sides of the rear part and the front part of the chassis respectively, and a wheel cover is arranged above each wheel; and the control system, the identity card identifier and the boarding card printer are all arranged in an equipment cabin of the shell. The airport terminal service robot can realize manual remote control or automatic control, can provide functions of mobile self-service check-in, fixed line guide, baggage carrying, information query, multi-language voice communication, mobile monitoring and the like in a centralized service mode, and can be recreationally interacted with passengers so as to further simplify the check-in procedures, facilitate outgoing of civil aviation passengers, facilitate improvement of service efficiency and promote the integral scientific and technological level of an airport terminal.