Objective To explore the application effect of goal-oriented training based on virtual reality（VR） technology in the rehabilitation of ICU patients. Methods Sixty patients admitted to the Department of Critical Care Medicine of a tertiary hospital in Zhejiang Province from July 2024 to December 2024 were selected and randomly divided into 30 cases each in the control group and the experimental group. Both groups received conventional rehabilitation treatment，and the experimental group applied the self-developed bedside VR rehabilitation system for immersive goal-oriented training on this basis. We compared the differences in muscle strength（Medical Research Council Scale，MRC） score and muscle thickness（rectus femoris） between the two groups at the time of transferring into ICU and transferring out of ICU，and compared the ICU Mobility Scale（IMS） score，lower limb stepping trainer active movement duration and grip strength before the intervention，1 week after the intervention，and 2 weeks after the intervention. Results The differences in MRC scores between the two groups were not statistically significant when the patients were transferred to the ICU（P>0.05），and the MRC scores of the experimental group were higher than those of the control group when the patients were transferred out of the ICU（P<0.05）. The differences between the two groups were not statistically significant in terms of the IMS scores，grip strength，the length of active exercise on treadmill，and the resistance before the intervention（P>0.05），and the differences of the scores in the experimental were higher than those of the control group 1 week and 2 weeks after the intervention（P<0.05）. The differences in muscle thickness between the two groups of patients at the time of transfer to and from the ICU were not statistically significant（P>0.05）. Conclusion Goal-oriented training based on VR technology can improve the muscle strength，grip strength and activity ability of ICU patients，and has a promoting effect on their recovery.