Biomass derived carbon materials are widely available, cheap and abundant resources. The application of these materials as electrodes for rechargeable batteries shows great promise. To further explore their applications in energy storage fields, the structural design of these materials has been investigated. Hierarchical porous heteroatom-doped carbon materials (HPHCs) with open three-dimensional (3D) nanostructure have been considered as highly efficient energy storage materials. In this work, biomass soybean milk is chosen as the precursor to construct N, O co-doped interconnected 3D porous carbon framework via two approaches by using soluble salts (NaCl/ Na 2 CO 3 and ZnCl 2 /Mg 5 (OH) 2 (CO 3 ) 4 , respectively) as hard templates. The electrochemical results reveal that these structures were able to provide a stable cycling performance (710 mAh · g À 1 at 0.1 A · g À 1 after 300 cycles for HPHC-a, and 610 mAh · g À 1 at 0.1 A · g À 1 after 200 cycles for HPHC-b) in Li-ion battery and Na-ion storage (210 mAh · g À 1 at 0.1 A · g À 1 after 900 cycles for HPHC-a) as anodes materials, respectively. Further comparative studies showed that these improvements in HPHCa performance were mainly due to the honeycomb-like structure containing graphene-like nanosheets and high nitrogen content in the porous structures. This work provides new approaches for the preparation of hierarchically structured heteroatom-doped carbon materials by pyrolysis of other biomass precursors and promotes the applications of carbon materials in energy storage fields.