The invention provides a path planning device and method for an unmanned underwater vehicle based on a detection threat domain, which solve a path planning problem of a UUV (Unmanned Underwater Vehicle) in a terrain obstacle environment according to a path planning algorithm based on the detection threat domain, and can satisfy kinematic constraints, collision avoidance constraints and concealment detection constraints of the UUV. A path from a starting point to an end point of the movement is planned with the given initial position, the end point position, maximum curvature constraints, the path discrete point resolution, concealment safety indexes and the like being given. The planned path is smooth and can be guided continuously, sailing and turning curvature constraints, the concealment safety indexes and the like of the UUV are satisfied, and the UUV is enabled to reach the end point safely in a concealed manner with the shortest time. According to the invention, a detection threat theory and a geometric theory of the sailing and turning curvature constraints are applied to the field of path planning for the UUV for the first time, and path planning can be realized quickly. The path planning method is simple, reliable, easy to implement, small in calculation amount and good in real-time performance, can meet path planning requirements, improves the practicability of path planning, and has positive significance for development of the underwater path planning field in the future.