The invention belongs to the technical field related to robot calibration, and discloses a series-connection type robot's kinematic parameter calibration method based on multi-point attitude sampling. The method comprises the following steps: (1) determining a fixing point in the Cartesian coordinate space that is in contact with the tool center of the to-be-calibrated series-connection type robot; (2) determining the initial position vector of the tool center according to the initial link parameter value of the series-connection type robot; (3) operating the series-connection type robot to make the tool center rotate around the fixing point in different attitudes and the collecting the joint variable value corresponding to each rotation at the same time; and (4) determining the optimal error compensation value for the kinematic parameters of the series-connection type robot according to the collected values of multiple joint variable values and using the optimal error compensation value to correct the kinematic parameters of the series-connection type robot. The method of the invention collects multiple sets of data in small space and improves the accuracy, and the calibration tool is low in cost and is convenient to carry.