A gait planning method includes: performing a gait planning in each center of mass (CoM) timing period of the robot based on a variable-height linear inverted pendulum model, which includes: acquiring a first step length and a second step length at a beginning of each CoM timing period; calculating a first height reduction amplitude and a first fluctuation amplitude of the CoM of the robot according to the first step length; calculating a second height reduction amplitude and a second fluctuation amplitude of the CoM of the robot according to the second step length; and performing a planning to the height of the CoM of the robot in the current CoM timing period, based on the first height reduction amplitude, the first fluctuation amplitude, the second height reduction amplitude, and the second fluctuation amplitude.