The invention belongs to the technical field of chaos secrecy, and discloses a robust chaos keying secure communication system and communication method, a terminal and a storage medium. At a sending end, a double-delay feedback chaos keying system is designed, one fixed delay feedback is used for guaranteeing the chaos characteristic of the system, the other controllable delay feedback is used for bearing 0 and 1 bit information, and uses a 0 or 1 state for controlling on / off state of delay feedback; the sending end respectively trains a neural network by using a chaotic signal output by a system and a delay signal thereof to establish two relation models in an on / off state of a delay keying modulation module. At a receiving end, segmented verification is performed on the mapping relation between the modulated chaotic signal and the delay signal by using the two models, and decryption is performed on the premise of not recovering the chaotic carrier of the sending end. The secure communication system based on robust chaos keying comprises a nonlinear transformation module, a delay keying modulation module, a plaintext electric signal module, a relation model establishment module, a channel, a first delay prediction module, a second delay prediction module, an analog-to-digital conversion module, a clock control module, a segmentation similarity comparison module and a demodulation module. The method can effectively resist the return mapping attack for chaos keying, and provides possibility for secure transmission under severe communication conditions.