With the continuous development of the Energy Internet, the demand for distributed energy storage is increasing. However, industrial and commercial users consume a large amount of electricity and have high requirements for energy quality; therefore, it is necessary to configure distributed energy storage. Based on this, a planning model of industrial and commercial user-side energy storage considering uncertainty and multi-market joint operation is proposed. Firstly, the total cost of the user-side energy storage system in the whole life cycle is taken as the upper-layer objective function, including investment cost, operation, and maintenance cost. The lower layer takes the economy and environment of energy storage operation as the goal, and considers the ancillary service market revenue, demand response constraints, and operational constraints. Secondly, considering the uncertainty of the power market price, and based on the robust optimization theory, the robust transformation is carried out to effectively deal with the impact of uncertain variables on the system operation. Finally, the model is verified in a typical IEEE 30-node system. The results show that the uncertainty of renewable energy will affect the optimal location and capacity of energy storage. From the results of energy storage location, energy storage will be configured in the important transmission nodes and renewable energy power generation access nodes in the power system.