The invention relates to a two-wheeled quadruped robot, and belongs to the technical field of mechanism design. The two-wheel quadruped robot includes a base plate, the left and right sides of the base plate are provided with walking wheels correspondingly, the left and right sides of the upper surface of the base plate are provided with walking motors, reducers and transmission shafts which correspond to the walking wheels correspondingly, and each walking wheel includes a wheel bracket, a wheel leg and a wheel leg driving device; the middles of the wheel brackets are provided with wheel legdriving device mounting grooves, the left and right sides of the lower parts of the wheel brackets are symmetrically provided with first pin shaft mounting holes, and the two wheel leg driving devicesare symmetrically arranged on the left and right sides of the wheel brackets; and each wheel leg driving device includes a driving motor, a lead screw seat, a driven gear, a driving gear, a lead screw, a nut sliding block and a wheel leg driving connecting rod assembly, and each wheel leg includes a connecting plate, a first hub plate, a supporting rod, a second hub plate, a third hub plate, a wheel foot, a first supporting sleeve, a second supporting sleeve and a telescopic pushing rod. The two-wheeled quadruped robot has the advantages of simple structure, convenient operation, large wheeldiameters of the walking wheels and adjustable leg length.