The present invention relates to a robot motion data generation method and a generation apparatus using image data, and more specifically to a robot action data generation method for perceiving motion of an object from a consecutive first image frame and a second image frame including image information on the moving object, and for generating robot action data from the perceived motion, comprising the steps of: a first step of performing digital markings at plural spots on top of the object of the first image frame, and storing first location coordinates values of the digital markings in tree type; a second step of storing peripheral image patterns of each digital marking in association with the first location coordinates values; a third step of recognizing image data identical with peripheral image patterns of each of the first location coordinates values from the second image frame, and finding out changed second location coordinates values from the first location coordinates values; a fourth step of extracting angle changes of each location coordinates value from the first location coordinates values and the second location coordinates values; a fifth step of converting extracted angles into motion templates; and a sixth step of generating robot action data from the motion templates.