Remora (Echeneis naucrates) can rapidly switch between swimming and attachment on a variety of marine hosts. We know that these maneuvers are performed by the dorsal suction disc, the flexible body/caudal fin, and the pectoral fins, but the specific effects of these components’ on attachment and detachment performance remains poorly understood. To remedy this, we collected data on remora morphology, and we studied the kinematics of the remora suction disc, fish body, and pectoral fins during attachment and detachment using two synchronized high-speed cameras. Based on these biological data, we developed an untethered biomimetic robotic remora suckerfish with an overall size of 45 x 25 x 10cm (L*W*H). This robot comprises three parts: 1) a biomimetic suction disc that aligns the disc to the surface, 2) a flexible fish body with mobility in both lateral and dorsal-ventral directions, and 3) a pair of flexible pectoral fins that can both flap and pitch. The fish body and pectoral fin were actuated by one brushless DC motor and seven servo motors. Utilizing the biomimetic robotic remora, we examined the undulatory amplitude/frequency of the caudal fin and the pectoral fins on the preload of the adhesive disc. We also investigated the effects of the head’s pitch motion on the attachment and detachment performance of the robot. This study may shed light on the biomechanics of dynamic adhesion and paves a way to the next generation of remora-like bio-robotic systems for real-world applications.