The invention discloses an intelligent robot camera holder in the technical field of autonomous mobile robot application. The intelligent robot camera holder comprises a 3D camera, a camera fixing flange, a center rotating shaft, a pitching transverse rolling mechanism, a yawing mechanism, a holder support, a holder fixing shell, a holder upper shell, a bottom fixing base and a controller. The yawing mechanism is arranged in the holder support and connected with holder support ribs, the pitching transverse rolling mechanism is arranged in the holder upper shell, and the yawing mechanism and the pitching transverse rolling mechanism are connected through an upper connecting plate. The 3D camera is arranged at the upper part of the holder upper shell and is connected with the top of the center rotating shaft through the camera fixing flange; and the middle lower part of the center rotating shaft is arranged in the holder upper shell and is connected with the pitching transverse rolling mechanism. According to the intelligent robot camera holder, the camera can perform pitching, transverse rolling and yawing motions at the same time, the axes are decoupled from one another through robot dynamics calculation, the motion of the holder is accurately controlled, and therefore a larger visual field and a clearer image are obtained.