The ray uses the pectoral fin to swing and propel, which is characterized by high stability and strong concealment. A hybrid control method based on fuzzy control and central pattern generator (CPG), namely fuzzy-CPG algorithm, was proposed to control the motion of the bionic robot ray in the complex underwater environment. Based on the CPG control model, a high-level sensory feedback control mechanism was introduced, and the parameters of the CPG were adjusted by a fuzzy controller to achieve multi-mode motion control of the bionic robot ray. The performance of the bionic robot ray multi-modal motion under different initial parameters of the Fuzzy-CPG controller was analyzed through straight ahead swimming, in-situ turning and dynamic sinking and floating tests. The stability of the bionic robot ray swimming under various modes of motion was verified through the feedback of the posture sensor. The test results show that the Fuzzy-CPG motion control method can not only realize the multi-mode motion of the bionic robot ray, but also has good robustness.