The terminal motion characteristics of industrial robots have important influence on processing quality. The motion characteristics of industrial robots determine the motion precision and motion characteristics of the robot end to a certain extent. A detection method based on the built-in sensor signal of the industrial robot was presented. The built-in sensor signal of the industrial robot joint motor could reflect the motion information in real time, and the motion characteristics of the robot could be detected and evaluated by the joint motion information. The experimental results show that the method is feasible and effective. It can easily and quickly realize the detection of the terminal motion characteristics of the industrial robot during the operation process.