The invention discloses a novel robot fish pectoral fin propelling mechanism, which comprises two pectoral fin mechanisms which are symmetrically arranged on the left and the right of the central axis of a fish body shell. The structures of the two pectoral fin mechanisms are same. Each pectoral fin mechanism comprises a motor support, a power source motor, a gear pair, a rotating center shaft, a center shaft support, a rotating support, a first motor, a hinge piece, a sliding sleeve, a similar ball pair and a pectoral fin, wherein the motor support and the center shaft support are fixedly arranged on the fish body shell, the power source motor is fixedly arranged in the motor support, the output shaft of the power source motor is connected with the gear pair, the gear pair is assembled on the rotating center shaft, the rotating center shaft is supported by the motor support and the center shaft support, one end of the rotating center shaft is connected with the rotating support, the first motor is tightly fixed on the rotating support, the output end of the first motor is hinged with one end of the sliding sleeve through the hinge piece, the other end of the sliding sleeve is slideably connected with the similar ball pair and the similar ball pair is fixedly connected with the pectoral fin. The novel robot fish pectoral fin propelling mechanism has the characteristics of multiple movement patterns, and the high flexibility and the high sealing performance of the traditional mechanical mechanism.