The invention discloses a method for estimating the operating speed of an elevator door based on an energy threshold algorithm. The method comprises the following steps: 1, obtaining an original acceleration signal of the operation of the elevator door through an acceleration sensor; 2, performing the detrend item processing of an obtained acceleration signal; 3, converting the signal to a frequency domain through the fast Fourier transform, and performing the filtering to remove noise; 4, carrying out the inverse Fourier transform of the filtered frequency domain signal, and calculating the energy of the acceleration signal; 5, setting a threshold value for the operating stage of an elevator, and removing a jitter noise signal; 6, performing the integrating processing of a final acceleration signal q(t) to obtain a corresponding real-time speed signal. The method removes the jitter interference signal at the opening and closing moments of the elevator and at the opening and closing gaps, can guarantee the reduction of usable signals, and obtains a speed signal through integration.