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The present application relates to geotechnical engineering monitoring technical field, disclose a kind of sensor self-displacement burying micro robot based on bionical peristalsis, including sensor push system, the side of sensor push system is connected with telescopic displacement system, and the side of telescopic displacement system and sensor push system away from each other is equipped with extrusion counterforce system.The present application realizes soil minimally invasive drilling and sensor pre-burying operation, reduces the interference to soil, improves soil detection accuracy;Combined with inertial navigation and program control, the accurate control of burying depth, plane position and sensor attitude can be realized, the accurate pre-burying of detection sensor is realized;Adopt bionical peristalsis mechanism to make it have very strong obstacle and through loose medium capacity, suitable for a variety of complex geological conditions;Integrates autonomous travel, accurate release, autonomous recycling function, realizes the full-process automation of sensor burying;Energy utilization efficiency is high, and almost no earthwork and noise is generated during the whole burying process, realizes green geotechnical engineering monitoring.