To increase its mobility, a new biomimetic robotic-fish propelled by pectoral fins with two degrees of freedom and the flapping tail was designed. The pectoral fins, fish body, and the tail spring transmission mechanism were designed separately. An Arduino control board and integrated silica gel membrane were used. A CPG unit was used to model and control the robotic fish under different moving postures based on the electrical system control and waterproof sealing scheme. The feasibility of the model and control method was verified by simulations and experiments. The results show that the design successfully achieved rectilinear motion, turn, and dive of two-degree of freedom pectoral fin.