The invention relates to a cycloidal gear grinding tool that comprises a base, and a supporting plate, a middle liquid expansion mandrel, a liquid adding groove, a plunger, a hydraulic expansion sleeve, a conical surface gasket, a spherical surface gasket, a round nut, a tool pressing plate, a fixing nut, a convex ring, a side hole mandrel expansion sleeve and a mandrel pressing plate are arrangedon the base. When in use, two cycloidal gears are oppositely placed, so cycloidal gear teeth can be conveniently machined, and the problems that alignment of the teeth is difficult and the like in arelative stacking placement mode are solved; meanwhile, the hydraulic expansion sleeve deforms due to liquid pressurization, and the positions of the two cycloidal gears are more accurate due to the special-shaped side hole mandrel expansion sleeve; and finally, due to pressing of the tool pressing plate, the angle deviation is smaller when the cycloidal gear is machined, and the machining qualityis effectively improved.