Ice-covered transmission lines seriously affect the stable operation of the power system. Deploying a recognition network for measuring the ice thickness on transmission lines within a deicing robot, and controlling the robot to perform resonant deicing, is an effective solution. In order to solve the problem that the existing recognition network is not suitable for an edge device, an ice-thickness recognition network for transmission lines based on efficient dynamic perception (EDPNet) is proposed. Firstly, a lightweight multidimensional recombination convolution (LMRC) is designed to split the ordinary convolution for lightweight design and extract feature information of different scales for reorganization. Then, a lightweight deep fusion module (LDFM) is designed, which combines the attention mechanism with different features to enhance the information interaction between the encoder and decoder. Then, a new dynamic loss function is adopted in the training process to guide the model to perform refined detection of ice-covered boundaries. Finally, we count the ice pixels and calculate the ice thickness. The model is deployed on an OrangePi5 Plus edge computing board. Compared with the baseline model, the maximum ice-thickness detection error is 4.2%, the model parameters are reduced by 86.1%, and the detection speed is increased by 74.6%. Experimental results show that EDPNet can efficiently complete the task of identifying ice-covered transmission lines and has certain engineering application value.