With the advent of the intelligent era, intelligent service terminals like automatic beverage vending machines, automatic subway ticketing machines and ATM machines have played an increasingly important role in our lives. Therefore, it is essential to make a comprehensive and effective test to prevent various possible errors and improve the user experience. In view of the problems such as the workload of testing is huge and difficult to be standardized caused by frequent software version updates, difficult connection between development and testing, and testing while developing, based on the characteristics of intelligent service terminal that they have obvious states and state migrations, we put forward an efficient test scheme which can still be used efficiently in the case of absence of detailed specifications or the rapid software iteration requiring continuous regression testing—exploratory adaptive finite state machine (FSM) testing. Firstly, the state and migration information of the system to be tested are obtained through exploratory testing, and then they are modeled as FSM. According to the model and the executed test cases, the test cases are generated based on the state and state migration coverage, and the test model and corresponding test cases are continuously adjusted adaptively in the testing process. Based on this method, an experimental platform is built by integrating the open source software Graphwalker. Ten different kinds of common intelligent service terminals are selected to evaluate their effectiveness through experiments. The experimental results show that the number of test cases generated by this method is small and the degree of test adequacy is high. It can efficiently find the defects and problems in the intelligent service terminal system.