The invention discloses an electro-hydraulic hybrid power steering system of four-wheel walking machinery and a control method of the electro-hydraulic hybrid power steering system, and relates to thefield of walking machinery. The steering system comprises a steering wheel, a steering wheel deflection sensor, a steering gear, steering knuckles, steering wheel rotation angle sensors, a steering knuckle arm, a steering power-assisted oil cylinder, a front beam, a trapezoidal arm, an oil conveying pipe, an electric cylinder, a left and right transverse pulling rod, a solenoid reversing valve, asteering hydraulic pump, an oil storage tank, an overflow valve and a steering controller. The prototype of a steering mechanism of the steering system is an isosceles trapezoidal connecting rod steering mechanism, and the tail end of each steering knuckle is provided with the corresponding rotation angle sensor; a transverse pulling rod with the fixed length in a traditional steering mechanism is replaced with the electric cylinder; and the steering power-assisted oil cylinder is connected with a steering axle and a left steering arm. By means of the method, through a steering control unit,signal input from the steering wheel deflection sensor, the steering wheel rotation angle sensors and the electric cylinder is received, and the current state of the steering system is analyzed; and stretching and contracting of an electric push rod and a hydraulic cylinder are controlled synchronously, and rotation of a left steering wheel and a right steering wheel conforms to the angle of Ackermann steering geometry constraint.