Intangible cultural heritage, as a unique mark of regional culture, has profound historical and cultural connotations, and exploring its color cultural symbols and influence paths can help expand its communication effects. The article takes Beijing intangible cultural heritage - Beijing embroidery as the research object, constructs a color database by extracting the color characteristic data of Beijing embroidery, conducts a comparative analysis of the color brightness of different types of Beijing embroidery, and explores the cultural connotations of the psychological connotations of its color in combination with emotions. Then the structural equation model was introduced to study the influence path of color psychological cultural symbols on the audience's behavioral imagery of intangible cultural heritage communication. The correlation coefficient values between the bright sense of color of Beijing embroidery and the sense of softness, warmth, coldness, magnificence, and emotion are 0.982, 0.917, 0.835, and 0.829, respectively, which show strong correlation at the 1% level. The direct influence coefficient of color psychological cultural symbols on the audience's behavioral willingness to carry out ICH communication is 0.479, and its 95% confidence interval is [0.023,0.179]. Therefore, exploring the cultural symbols of color psychology in the communication of intangible cultural heritage can help to enhance the audience's behavioral willingness to carry out the communication of intangible cultural heritage, and also further enhance the effect and scope of the communication of intangible cultural heritage, and help the revitalization and inheritance of intangible cultural heritage.