The periodical inspection of boiler header and tube is considered important to avoid power plant shutdown due to failures caused by degradation, creep, corrosion, thermo-mechanical loading and others. The boiler header inspection robots developed by our research center, namely “MK-02” and “LS-01”, are only able to inspect the boiler header but unable to travel in and examine the boiler tube condition. This paper introduces a boiler tube inspection robot with magnetic wheeled which is able to inspect the inner surface of 45 mm ferromagnetic tube. The detailed design and analysis of Boiler Tube Inspection Robot “ND-01”are presented. The experimental results proved that the proposed system was able to work efficiently. With further research, the proposed design is expected to improve the inspection of boiler tube or small pipe efficiency.