The invention discloses a banknote-receiving device based on voltage-controlled rotating speed and relates to a device for identifying and receiving banknotes. A banknote channel body, a color sensor, an A/D converter, a microprocessor, a large transmission mechanism, small transmission mechanisms, tensioning mechanisms, and receiving boxes are disposed in a box body. The color sensor is disposed on the inlet of a banknote channel and rightly faces the banknotes. The large transmission mechanism, the small transmission mechanisms, the tensioning mechanisms, and the receiving boxes are successively and correspondingly arranged under the banknote channel. The color sensor, the A/D converter, the microprocessor, and the tensioning mechanisms are successively connected, measure color signals of the banknotes, and gather different banknotes in different receiving boxes according to classifications. The banknote-receiving device may fast and accurately identify, classify, and count the banknotes, is simple in structure and low in cost, and can be widely used in small-profit enterprise. The receiving method based on voltage-controlled rotating speed and the color-based identifying principle are suitable for any apparatuses requiring identification and reception.