The invention discloses a multi-motion mode moving parallel mechanism suitable for unstructured terrain and a gait control method. The multi-motion mode moving parallel mechanism suitable for the unstructured terrain comprise an upper platform, a lower platform, Hooke hinge assemblies and connecting rods, wherein the upper platform and the lower platform are arranged oppositely in parallel in a spaced mode, the ends of the upper platform and the lower platform are provided with the Hooke hinge assemblies and rotatably connected with the Hooke hinge assemblies, steering engines are installed atthe ends, far away from the upper platform and the lower platform, of the Hooke hinge assemblies, and the connecting rods are installed between the Hooke hinge assemblies at the same ends of the upper platform and the lower platform. The gait control method comprises a full-posture rolling mode, a variable-width rolling mode, a switching mode and a side rolling mode. The multi-motion mode movingparallel mechanism suitable for the unstructured terrain and the gait control method have the beneficial effects that the adaptability is good, and the application prospects are very good; and the parallel mechanism is adopted overall, and compared with a traditional chain opening mechanism, the parallel mechanism has the advantages of being simple in structure, good in rigidity and high in bearing capacity. According to the foldable multi-motion mode moving parallel mechanism, the steering engines in the mechanism can be controlled in a time-sharing manner, and free switching among differentmodes can be realized.