Underwater robots have been widely used in Marine environment monitoring, deep-sea resources exploration, underwater archaeology, and other fields. The underwater robot hovering is a very demanding technology, especially in a dynamic environment, the underwater multi-disturbance robot has a great influence, and accurate hovering of the underwater robot is the basic guarantee to complete the task. In this paper, a hybrid control strategy based on a neural network and PID is proposed to realize the perception and decision of complex environment states and realize the accurate hovering of the underwater robot. Experimental results show that the hybrid control based on neural network and PID can stably and accurately complete the hovering function, which proves the effectiveness of the algorithm. (Video: https://youtu.be/1GU4BKHeTB8t)