A permanent-magnet micro-robot consists of a casing (5), an axially magnetized permanent magnet (1), a radially magnetized permanent magnet (2), a non-magnetic miniature bearing (3) and a propeller (4), wherein, the head of the casing (5) is round and smooth, and a bottom (6) has a cavity (7) which is filled with lubricating grease; the axially magnetized permanent magnet (1) and the radially magnetized permanent magnet (2) are connected by the non-magnetic miniature bearing (3); the radially magnetized permanent magnet (2) and the propeller (4) are fixed via an axle (8) of the propeller. An outside magnetic field is generated by a rotation magnetic field device and a uniform magnetic field device, wherein, the rotation magnetic field consists of three groups of perpendicular Helmholtz coils, a sinusoidal current source and a phaser; the uniform magnetic field device consists of three groups of perpendicular Helmholtz coils and three groups of direct current sources. Under the effect of the rotation magnetic field, the robot rotates with the radially magnetized permanent magnet (2) and produces the axial driving force to drive; at the same time, under the deflecting guidance of the uniform magnetic field, the robot realizes flexible steering and moves along an expected locus.