Since the beginning of the 21st century, the concept of using robots to replace manual work has been widely recognized all over the world. The development level of robotics technology has become a representation of a country’s high-tech industry, and intelligent security robots as a member of many robots has been widely concerned. In this paper, a powerful and stable control system is designed for the intelligent security robot. Firstly, the overall structure of the intelligent security robot control system is designed by using modular design ideas. Secondly, the main controller of the robot control system is designed and developed, and the motion control subsystem of the robot is also designed. Besides, sensor subsystem and camera control subsystem are researched and designed. Finally, the control system is tested by the robot platform, and the experimental results are analyzed and summarized. It can be foreseen that the security robot is of great significance in reducing the risk of manual operation and the cost of enterprises.