Abstract: Provided are an underwater robot and a method and apparatus for controlling an underwater robot. The underwater robot includes a robot body and at least three groups of thruster arrays disposed on sides of the robot body. Each group of thruster array includes two thruster components, each of the two thruster components includes a housing and a propelling mechanism, the two thruster components in each group of thruster array are symmetrically disposed on two sides of the robot body about a central axis of the robot body, and at least three values of included angles between propelling directions of at least three thruster components located on a same side of the central axis, and the central axis are formed. The control method includes: acquiring coordinates of a target position point and enabling a robot body to arrive at the target position point by using at least three groups of thruster arrays disposed on sides of the robot body.