A tool for adjusting the wrist clearances of an industrial robot comprises a working table, a wrist fixing plate, a motor and a driving mechanism used for driving three shafts on a wrist to rotate, wherein the driving mechanism is connected with the motor, the wrist fixing plate and the motor are both mounted on the working table, the driving mechanism comprises a chain and a chain wheel, the chain wheel is mounted on a rotating shaft of the motor, one end of the chain is meshed with the chain wheel, and the other end of the chain, after penetrating through a through hole formed in the wrist fixing plate, is meshed with a chain wheel on the three shafts of the wrist. Before the wrist is assembled on the industrial robot, first, the wrist is mounted on the wrist fixing plate, then, the three shafts in the wrist are separately driven by the driving mechanism to continuously work for 120 hours, the clearances of the three shafts are fully displayed, and after no clearances exist after adjustment, the wrist is mounted on the industrial robot at a time. In conclusion, a following wrist disassembling and assembling procedure is omitted in a mode of previously adjusting the clearances of the wrist, so that the production cost of enterprises is greatly saved.