The invention provides a three-dimensional laser noise reduction method and device, a medium and a robot. The three-dimensional laser noise reduction method comprises the following steps: S1, acquiring a 3D laser point cloud image; s2, carrying out downsampling on the 3D laser point cloud data to obtain downsampled 3D laser point cloud data; s3, converting the down-sampled 3D laser point cloud data into a kd tree; s4, calculating the distance of each point in the down-sampled 3D laser point cloud under the laser coordinate system; s5, calculating a search radius ri according to the distance of each point in the laser coordinate system; and S6, calculating the nearest neighbor of each point in the point cloud according to the dynamic radius, searching whether the threshold value of the minimum point in the current sphere is satisfied, if the current point is satisfied, retaining the point, and otherwise, rejecting the point. According to the three-dimensional laser noise reduction method provided by the embodiment of the invention, noise in snow removal weather can be effectively removed.