A binaural sound source localization method based on sub-band signal to noise ratio estimation is an improved sound source localization method, wherein the mean value of the ITD (Interaural Time Difference) of various orientations is used as the localization characteristic clue for the sound source orientation to build an orientation mapping model; during the actual sound source localization, a dual-channel acoustic signal is input, the input acoustic signal is firstly subjected to frequency domain transformation, a frequency domain is divided into a plurality of sub-bands, signal to noise ratio estimation is carried out in each sub-band, according to the sub-band signal to noise ratio, the power spectrum of the corresponding sub-band is selected to calculate the ITD parameters of each frame, one-by-one match is performed according to the orientation characteristic model built by the ITD characteristic parameters and a training module, and based on the Euclidean distance measurement, the orientation is output. With the binaural sound source localization method, the performance of sound source localization in noisy environments can be improved.