The invention discloses normal-temperature soybean yoghurt and a preparation method thereof, and belongs to the technical field of soybean milk, and the normal-temperature soybean yoghurt is prepared through the steps of soaking treatment, passivation and peeling, pulping treatment, deodorization and fishy smell removal treatment, inoculated fermentation, fermentation termination, demulsification and cooling, pasteurization, sterile canning and the like. The room-temperature soybean yoghurt prepared by the preparation method disclosed by the invention is excellent in color, whey precipitation, viscosity, smoothness, granular sensation, taste, fragrance, acidity sensation and the like, and the comprehensive sensory score of the room-temperature soybean yoghurt can reach 99.37; according to the preparation method of the normal-temperature soybean yoghurt provided by the invention, the problem of nutritional deficiency of soybeans is effectively solved, anti-nutritional factors in the soybeans are destroyed, and the digestibility of soybean protein is remarkably improved; the preparation method is simple and suitable for popularization and application.