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The unique pectoral fin swinging propulsion method of biomimetic robotic manta ray is more suitable for long-term underwater operations in wind and wave environments. Relevant research has been conducted both in China and abroad, but there are problems in the current research on biomimetic robotic manta ray, such as weak driving ability, low control accuracy, and poor biomimetic effects. This article took the natural manta ray as a biomimetic prototype, analyzed its biological characteristics and motion mechanism, and constructed its kinematics and dynamics models, thus providing a theoretical basis for the system design of the biomimetic robotic manta ray. The mechanical structure and control system were also designed. The experiments of straight forward swimming, in situ turning, and dynamic sinking and floating were carried out under simulated wave environments to test the performance of the biomimetic robotic manta ray in complex environments, verifying the motion performance and application prospect of biomimetic robotic manta ray.