The pipe inspection robot using the MFL non-destructive inspection equipment, has high inspection efficiency in the pipe with high magnetic permeability. However, this equipment generates attractive force between the pipe and the permanent magnet, requiring a high driving force for the robot, and sometimes causes the robot to be incapable of driving. In this study, the development of a spiral running type magnetic leakage detection pipe inspection robot system is described. Multi-body dynamics analysis was performed on the designed robot, to confirm the robot"s driving performance. After that, the performance of the robot was verified, by testing the manufactured robot in a standardized test bed.