Disclosed is a self-propelled soft robot body, including a tube which is internally and axially provided with a tube cavity, and at least one propelling structure, comprising a first driving unit, a second driving unit and a third driving unit, which are evenly fixed on a peripheral wall of the tube cavity, relative to an axis thereof, and along the axis of the tube； and the first driving unit, the second driving unit and the third driving unit are respectively telescopic along the axis of the tube； at least two support structures, with each two adjacent support structures having at least one propelling structure arranged therebetween, the support structures are fixedly connected with the propelling structure and arranged on the peripheral wall of the tube cavity.
