The invention belongs to the field of magnetic control soft robots, and particularly relates to a multi-arm miniature magnetic control soft robot and a motion monitoring and control method thereof. When the robot is in a spreading state, the robot comprises a central head part and a plurality of arms which are uniformly distributed in the circumferential direction of the head part in a radial manner; the central head part and the multiple arms are manufactured into a whole; and each arm of the robot is magnetized in the radial direction, and the central head of the arm does not have the axial magnetization direction. A plurality of wireless micro pressure sensors are attached to the back face of the robot, and the motion state of the robot can be monitored in real time; and under the action of an external magnetic field, the robot can realize the functions of rolling forward, pivot steering, obstacle crossing and fixed-point object placement with an object. The robot is simple in structure and convenient to manufacture, and scattered assembly or step-by-step magnetizing is not needed; and remote control is achieved, movement is flexible, monitoring is easy, and accurate transportation tasks can be executed in a closed and complex environment.