The invention discloses a multi-degree-of-freedom motion sealing device. The sealing device comprises a base plate, wherein a channel with the front communicating with the back is formed in the side wall of the base plate, a sealing plate is arranged in the channel, and a guide pipe is arranged at the upper end of the sealing plate; the upper end of the guide pipe penetrates through the top surface of the channel and extends to the upper part of the base plate, and a cover plate is arranged at the upper end of the guide pipe; a first through hole with the front communicating with the back is formed in the side wall of the sealing plate, a sealing groove is formed in the inner wall of the first through hole, and the sealing groove is an annular groove; a steel pipe penetrates through the first through hole, and an annular part rotationally sleeves the steel pipe; the annular part is arranged on the position, located at the front end of the sealing plate, of the steel pipe; and elastic pieces are connected to the side wall of the left end of the annular part and the side wall of the right end of the annular part, and wedge-shaped blocks are connected to the ends, far away from the annular part, of the elastic pieces; and the base plate is internally provided with two chambers. According to multi-degree-of-freedom motion sealing device, the steel pipe can be replaced conveniently,the sealing structure is simple, and the sealing effect is good.