The invention discloses a multi-unmanned aerial vehicle motion planning method based on an artificial potential field method and MADDPG. According to the method, high-quality experience of successfully planning a plurality of unmanned aerial vehicles to a target through the artificial potential field method is added on the basis of the original multi-unmanned aerial vehicle exploration environment experience, through the MADDPG algorithm training, samples are collected from exploration environment experience and high-quality experience at a certain probability, state information and environment information of each unmanned aerial vehicle serve as input of a neural network, the speeds of the multiple unmanned aerial vehicles serve as output, training of a motion planning strategy is completed, the multi-unmanned aerial vehicle autonomous obstacle avoidance in a complex environment is realized, and the target position is safely and quickly reached. According to the method, the Q values of the multiple unmanned aerial vehicles in different states and different actions are fully learned, the robustness of the strategy is improved, an excellent strategy with higher adaptability and higher flexibility is trained, and the method has a good application prospect in a scene of cooperative motion planning of the multiple unmanned aerial vehicles.