Biomimetic robots have recently received increasing attention, as people try to learn from nature in which exist amazing and uniquely evolved mechanisms shown by very species. Fleas, as such one example, are best jumper of all known animals in the world, considering their body size. It can jump about 150 to 200 times its own body length. This paper reports on modeling and simulation of a jumping biomimetic robot following the jumping mechanism of fleas and provides a guide line for designing and modeling a biomimetic robot that can mimic fleas to jump very high with respect to its body length. A control system is also developed to make the robot jump at desire heights and lengths.