Abstract: Nowadays,the existing Internet robot systems usually are not complex and can only accomplish simple tasks,thus their affection is limited.This paper applies teleoperation and Internet technologies to the robot soccer system,which is highly dynamic,highly cooperative and highly competitive.The architecture of the Internet-based tele-robot soccer system is established and the software design methods in the system are provided.A UDP-based method for connection and data transmission is also designed to improve the performance of the system.An actual 3 vs 3 Internet-based tele-robot soccer system is set up and it proves the feasibility and validity of the design methods for the system.Experiment also shows the advantages of the UDP-based method proposed over the TCP method.