A voice recognition method, comprising: performing a latency estimation according to a first microphone signal and a first reference signal in a preset time period to obtain a latency value; acquiring a system audio signal, and processing the system audio signal by using the latency value to obtain a second reference signal; performing de-noising processing on a collected second microphone signal according to the second reference signal, to obtain a to-be-recognized voice signal; and performing recognition on the to-be-recognized voice signal; wherein the performing the latency estimation according to the first microphone signal and the first reference signal in the preset time period to obtain the latency value comprises: performing the following process cyclically, until an obtained first latency value meets a preset convergence condition: performing echo de-noising processing on a first microphone signal collected in a current time period by using a first reference signal of the current time period, to obtain a de-noised signal; and performing a latency estimation according to the first reference signal, the first microphone signal and the de-noised signal of the current time period, to obtain a first latency value; wherein the first reference signal of the current time period is obtained by processing a system audio signal of the current time period by using a first latency value obtained in a previous time period. performing a latency estimation according to a first microphone signal and a first reference signal in a preset time period to obtain a latency value; acquiring a system audio signal, and processing the system audio signal by using the latency value to obtain a second reference signal; performing de-noising processing on a collected second microphone signal according to the second reference signal, to obtain a to-be-recognized voice signal; and performing recognition on the to-be-recognized voice signal; wherein the performing the latency estimation according to the first microphone signal and the first reference signal in the preset time period to obtain the latency value comprises: performing the following process cyclically, until an obtained first latency value meets a preset convergence condition: performing echo de-noising processing on a first microphone signal collected in a current time period by using a first reference signal of the current time period, to obtain a de-noised signal; and performing a latency estimation according to the first reference signal, the first microphone signal and the de-noised signal of the current time period, to obtain a first latency value; wherein the first reference signal of the current time period is obtained by processing a system audio signal of the current time period by using a first latency value obtained in a previous time period. performing echo de-noising processing on a first microphone signal collected in a current time period by using a first reference signal of the current time period, to obtain a de-noised signal; and performing a latency estimation according to the first reference signal, the first microphone signal and the de-noised signal of the current time period, to obtain a first latency value; wherein the first reference signal of the current time period is obtained by processing a system audio signal of the current time period by using a first latency value obtained in a previous time period.