A method for mobile IPv6 data traversing a state firewall includes: creating an entry item of a firewall including a source HoA, a source CoA, a destination HoA, a destination CoA, a source port, a destination port and a protocol number; matching the source CoA, destination CoA, source port, destination port and protocol number of the data packet with those in the entry item; if unsuccessful, matching the source HoA or CoA, destination CoA or HoA, source port, destination port and protocol number of the data packet with those in the entry item; if successful, replacing the source CoA or destination CoA in the entry item by those of the data packet, and allowing the data packet to traverse the firewall, which improves the efficiency of a data packet traversing a firewall and guarantees that the data packet passing the filtering of firewall is able to traverse the firewall normally.