•A multi-scale attention network is proposed for robust multi-organ segmentation.•Shape constraint is effective in solving the inhomogeneous intensity distributions.•Two-stage segmentation network shows highly efficient computational speed.•The proposed segmentation method won the second place among more than 90 teams. Although many deep learning-based abdominal multi-organ segmentation networks have been proposed, the various intensity distributions and organ shapes of the CT images from multi-center, multi-phase with various diseases introduce new challenges for robust abdominal CT segmentation. To achieve robust and efficient abdominal multi-organ segmentation, a new two-stage method is presented in this study. A binary segmentation network is used for coarse localization, followed by a multi-scale attention network for the fine segmentation of liver, kidney, spleen, and pancreas. To constrain the organ shapes produced by the fine segmentation network, an additional network is pre-trained to learn the shape features of the organs with serious diseases and then employed to constrain the training of the fine segmentation network. The performance of the presented segmentation method was extensively evaluated on the multi-center data set from the Fast and Low GPU Memory Abdominal oRgan sEgmentation (FLARE) challenge, which was held in conjunction with International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI) 2021. Dice Similarity Coefficient (DSC) and Normalized Surface Dice (NSD) were calculated to quantitatively evaluate the segmentation accuracy and efficiency. An average DSC and NSD of 83.7% and 64.4% were achieved, and our method finally won the second place among more than 90 participating teams. The evaluation results on the public challenge demonstrate that our method shows promising performance in robustness and efficiency, which may promote the clinical application of the automatic abdominal multi-organ segmentation.