The invention provides a robot imitating an earthworm to penetrate into the earth, which can creep in the soil. The robot imitating the earthworm to penetrate into the earth structurally comprises a head portion drilling the soil, a front body segment, a rear body segment and a spiral rod for internally discharging the soil, wherein the front body segment and the rear body segment can move forwards and perform turning. The circumferences of the body segments are respectively provided with 3 support feet in an evenly-distributed mode, and the body segments are connected with each other through a pair of lead screw nut mechanisms. Driven by a motor, the support feet and the lead screw nut mechanisms are matched with each other to enable the robot to imitate the earthworm to creep. In addition, the robot is provided with a detection device, a gyroscope and a circuit board, and a combined cable is used to transmit power and information, thereby being favorable for remote real-time control by operators. The robot imitating the earthworm to penetrate into the earth has the advantages of being designed by adopting a biomimetic theory, imitating the earthworm to dig and creep, and being high in earth-penetrating efficiency, simple in structure, low in construction cost and the like. The robot imitating the earthworm to penetrate into the earth can move forwards and perform free turning, and is suitable for underground mineral reserve exploration, geological exploration, earthquake and mining accident rescue and the like.