The invention provides an AUV underwater terrain matching adaptation area division method based on fuzzy entropy. The method comprises the following steps: 1, dividing a priori map into a plurality of grids; 2, solving terrain entropy, terrain difference entropy and terrain standard deviation of a sub-map in each grid; 3, determining a weight relation between the terrain entropy and terrain difference entropy common to a global map and a subordinating degree function and a fuzzy rule between the terrain standard deviation and terrain entropy weight; 4, solving the adaptive ability of the sub-map in the grid according to the weight relation among the terrain standard deviation, the terrain entropy and terrain difference entropy and the subordinating degree function and the fuzzy rule of the terrain entropy weight in the sub-map of each grid; and 5, dividing the adaptive areas according to the sub-map adaptive ability obtained in the previous step. According to the method disclosed by the invention, the influences of the terrain entropy and terrain difference entropy under different terrains on the terrain adaptive ability are comprehensively considered, and the adaptive ability degree in a certain area can be well reflected.