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As the typical species of hexapod, ants are taken as an object of experiments with their locomotion progress and characteristics being analyzed when they are creeping obstacle poles and obstacle stacks. With locomotion strategies of ants on irregular terrain being concluded, a more logical and more applicable locomotion mathematical model is constructed for the hexapod robot. Following the locomotion strategies, it is proposed that, terrain is classified into shallow irregular topography and deep irregular topography when processing locomotion planning of biomimetic hexapod robots. According to the classification, locomotion planning algorithm of hexapod robot on irregular terrain is proposed. Finally, the effectiveness of the proposed algorithm is verified by the prototype experiment.