For improving biomimetic robotic fish swimming flexibility and traditional tail fin propulsion, design biomimetic robotic fish based on pectoral fins auxiliary propulsion. Combine pectoral fins auxiliary propulsion mode with tail fin propulsion, use sine signal to control tail of biomimetic robotic fish, change fish swimming direction by pectoral fins, then realize power supply of ascending and descending. Design biomimetic robotic fish, main control system, execution module and communication module, verify it by test. The test results show: the biomimetic robotic fish can be more flexible and precise to realize advancing in shallow water, floating, diving circle flight, rotating and braking, then control fish by human-computer interaction, realize real time monitoring on ocean environment by combining auxiliary functions such as autonomous obstacle negotiation function, and image transmission.