The invention relates to a coaxial type all-terrain wheel-legged mobile robot comprising a vehicle body, front legs symmetrically arranged at two sides of the front of the vehicle body, rear legs symmetrically arranged at the rear of the vehicle body and a control part arranged on the vehicle body and used for realizing the control of the front legs and the rear legs, wherein the front legs and the rear legs are connected to the vehicle body through metallic rudder disks; the front legs consist of front main arm lifting motors, front wheel steering motors, the front metallic rudder disks, front hub motors, front right-angle supports, front U-shaped supports, front motor holders, front wheels, front leg connectors and front steering motor holders; and the rear legs consist of rear main armlifting motors, rear wheel steering motors, the rear metallic rudder disks, rear hub motors, rear right-angle supports, rear U-shaped supports, rear motor holders, rear wheels, rear leg connectors andrear steering motor holders. The coaxial type all-terrain wheel-legged mobile robot has higher obstacle-negotiation ability and wider adaptability under complex road conditions.