A system for millimeter wave-based fire detecting and rescuing and a method thereof are provided, the system including: an environmental obtaining device, a millimeter wave detector, a wireless transmitter, and a monitoring terminal, which are interconnected and arranged in an environment. The environmental obtaining device is configured to collect environmental information and send the environmental information to the wireless transmitter when the environmental information is determined to include fire information. The millimeter wave detector is configured to perform all-weather scanning on the environment to obtain characteristics and location information of a living organism in the environment, and send the characteristics and location information to the wireless transmitter. The wireless transmitter is configured to report the above information to the monitoring terminal through a millimeter wave, and the monitoring terminal stores the characteristics and location information. The monitoring terminal is configured to continuously compare changes in the characteristics and location information.