A service discovery method based on an IPv6 over Low-Power Wireless Personal Area Networks, 6LoWPAN, network, comprising: an initialization step, wherein a host completes a router discovery process and a host address registration process respectively; a service registration step, wherein a service agent SA advertises a service type that can be provided by the SA to a border router, wherein the service registration step comprises: the SA sending a service registration request message to the border router, wherein the service registration request message carries a URL of a service type provided by the SA; when receiving the service registration request message, the border router searching for a coincident service type in a service database, and adding an address of the SA and service configuration information into a corresponding service type; after the service registration is completed, the border router sending a service registration response message to the SA to indicate whether the registration is successful or not; and a service query step, wherein a user agent UA, running in the host, queries the border router for information of the SA that can provide the service; the border router sends service query response information to the UA; and application interaction is performed between the SA and the UA. an initialization step, wherein a host completes a router discovery process and a host address registration process respectively; a service registration step, wherein a service agent SA advertises a service type that can be provided by the SA to a border router, wherein the service registration step comprises: the SA sending a service registration request message to the border router, wherein the service registration request message carries a URL of a service type provided by the SA; when receiving the service registration request message, the border router searching for a coincident service type in a service database, and adding an address of the SA and service configuration information into a corresponding service type; after the service registration is completed, the border router sending a service registration response message to the SA to indicate whether the registration is successful or not; and a service query step, wherein a user agent UA, running in the host, queries the border router for information of the SA that can provide the service; the border router sends service query response information to the UA; and application interaction is performed between the SA and the UA. the SA sending a service registration request message to the border router, wherein the service registration request message carries a URL of a service type provided by the SA; when receiving the service registration request message, the border router searching for a coincident service type in a service database, and adding an address of the SA and service configuration information into a corresponding service type; after the service registration is completed, the border router sending a service registration response message to the SA to indicate whether the registration is successful or not; and a service query step, wherein a user agent UA, running in the host, queries the border router for information of the SA that can provide the service; the border router sends service query response information to the UA; and application interaction is performed between the SA and the UA.