The invention discloses a rehabilitation crawling device, which comprises: a large platform panel, small platform panels, pressure sensors, a jaw bracket, a safety belt, universal wheels, a regulationand control apparatus and an anti-rollover apparatus. The large platform panel bears a crawling-state human body trunk, and the supporting force needed by four limbs is greatly reduced; the small platform panels are placed at elbows and knees or hands and knees, and the small platform supports the arms and legs to reduce gravity load during crawling; stroke hemiplegia patients and cerebral dysfunction patients do crawling rehabilitation exercises; middle aged and elderly people with physical decline are engaged in crawling exercise, and various diseases are prevented. According to the requirements of rehabilitation patients, the large platform panel can be independently used for supporting the human body trunk to crawl; the large platform panel and the small platform panels can also be used at the same time; the crawling training state is accurately detected from multiple angles, detection data is rapidly analyzed, and cost is low. Patients can quickly see their own training scores, the interest of actively participating in activities can be stimulated, and training can be insisted, so that efficient rehabilitation is achieved, and a virtuous cycle is formed; the effects of improving the brain function and the limb functions are achieved.