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In order to ensure the information exchange between underwater climbing robots, a task assignment method for heterogeneous underwater climbing robots with communication distance constraints was proposed. Firstly, the task assignment mathematical model of heterogeneous underwater crawling robot cluster is established. Secondly, constraints such as communication distance and voyage of multiple underwater crawling robots are analyzed. Finally, the ant colony optimization algorithm was used to solve the task assignment problem of heterogeneous underwater crawling robots, and the total sailing distance of multiple crawling robots was the shortest under the condition of satisfying the constraint conditions. Simulation results show that the proposed method is effective in task assignment of multiple underwater crawling robots under communication distance constraints.