The peculiar velocities of dark matter halos are crucial to study many issues in cosmology and galaxy evolution. In this study, by using the state-of-the-art deep learning technique, a UNet-based neural network, we propose to reconstruct the peculiar velocity field from the redshift-space distribution of dark matter halos. Through a point-to-point comparison and examination of various statistical properties, we demonstrate that, the reconstructed velocity field is in good agreement with the ground truth. The power spectra of various velocity field components, including velocity magnitude, divergence and vorticity, can be successfully recovered when 𝑘 1.1 ℎ/Mpc (the Nyquist frequency of the simulations) at about 80% accuracy. This approach is very promising and presents an alternative method to correct the redshift-space distortions using the measured 3D spatial information of halos. Additionally, for the reconstruction of the momentum field of halos, UNet achieves similar good results. Hence the applications in various aspects of cosmology are very broad, such as correcting redshift errors and improving measurements in the structure of the cosmic web, the kinetic Sunyaev-Zel'dovich effect, BAO reconstruction, etc.