Aiming at the problem of satellite positioning information failure or instability of quadruped robot in complex environments such as wild jungle and urban buildings, an IMU/joint encoder inertial integrated navigation method for quadruped robot is proposed. An IMU fixedly installed on the quadruped robot and joint rotation angle information fed back by a joint encoder in real time in the motion process of the quadruped robot are adopted to calculate the running speed of the quadruped robot, the difference between the speed calculated by the IMU and the speed calculated by the joint rotation angle information is used as the observed quantity of a Kalman filter, a Kalman filtering equation is established, the navigation error calculated by the IMU is estimated, And perform real-time feedback correction to improve that accuracy of the integrated navigation of the quadruped robot. The method makes full use of the necessary sensors of the quadruped robot, and does not need to add new navigation hardware. The simulation results show that the integrated navigation algorithm can realize the high precision integrated navigation of quadruped robot under the set simulation conditions.