The present invention relates to a catalyst for concurrently removing CO, CH, NOx and PM, and a preparation method thereof, and belongs to the field of an atmosphere pollution treatment technology and environment protection catalysis materials. According to the catalyst, a solid solution of rare earth and a rare metal zirconium, a perovskite-type composite oxide and a small amount of a noble metal are adopted as active components, a self-made honeycomb ceramic is adopted as a carrier, the total loading amount of the solid solution of the rare earth and the rare metal zirconium, and the perovskite-type composite oxide in the active components is 5-20% of the mass of the catalyst, the loading amount of the noble metal is 0.01-1% of the mass of the catalyst, a general formula of the active components is AgqE1-qAyZr1-yBCOx, E is a noble metal, A and B are rare earth, C is a transition metal, y is more than 0 and less than 1, q is more than 0 and less than 1, E is one or two selected from noble metals such as platinum (Pt), palladium (Pd) and rhodium (Rh), A and B are two selected from rare earth such as lanthanum (La), cerium (Ce), praseodymium (Pr) and neodymium (Nd), and C is one selected from transition metals such as copper (Cu), cobalt (Co), manganese (Mn), iron (Fe) and nickel (Ni).