For walking controller design of the biped robot, a walking controller with multi-level structure is proposed by integrating the central pattern generator(CPG) stability analysis from the perspective of biological inspiration. The walking model of the biped robot is given. Then, the multi-level structure walking controller is proposed. By using the limit cycle theory, the walking stability is analyzed systematically. Compared with existing methods, the propoed controller is superior in simple structure, good versatility and converient online smoothing correction on the premise of walking stability. The simulation results show the effectiveness of proposed method.