The invention discloses a follow-up clamping device for clamping and positioning pipe pieces. The device comprises a first bearing body, a second bearing body arranged on the first bearing body in a sliding manner, a clamping mechanism fixed on the first bearing body, and a bearing mechanism arranged on the second bearing body in a lifting manner, wherein the clamping mechanism comprises two groups of telescopic butting heads forming angles; the two groups of butting heads are symmetrically arranged left and right; the bearing mechanism comprises two rows of rollers symmetrically arranged left and right; rotating axle lines of the rollers in one group are parallel to one another, and are positioned in a same plane; two planes, where the rotating axle lines of the two rows of rollers are positioned, are intersected with each other; the pipe pieces are clamped between the two groups of butting heads and the two rows of rollers; and each of the rollers is arranged along the tangential direction of the pipe pieces. The pipe pieces are stably clamped and positioned through the two rows of rollers and the two groups of butting heads so as to provide guarantee to the technique precision of following operations for the pipe pieces; and the device has a reasonable structure, is easily and reliably adjusted, and is suitable for the pipe pieces with different pipe diameters.