In order to solve the problem that the traditional task allocation model ignores the terrain factors, which leads to inaccurate planning results and low efficiency of multi-quadruped robot cooperation, a task allocation model combined with terrain evaluation is proposed. The terrain assessment matrix (TAM) is constructed to quantify the traffic difficulty of quadruped robot. The TAM is embedded into the task allocation process, and a multi-objective optimization model is established, which combines terrain risk, time, distance and constraints. Under the typical parameter configuration, compared with the traditional task allocation model, the terrain risk is reduced by about 25% while the time, distance and constraint satisfaction degree are similar, and the experimental results show that the model can effectively reduce the terrain risk of the task allocation results, thereby improving the efficiency and safety of multi-quadruped robot cooperation.