A three-degree-of-freedom integrated stick-slip linear positioning device relates to a positioning device and solves the problems that existing positioning devices are large in size, high in assembling error and low in positioning precision. The Three-degree-of-freedom integrated stick-slip linear positioning device comprises a bearing plate and a cap matched with a driving unit. The cap is fixedly connected to a surface of the bearing plate. The driving unit comprises a first press block, a second press block, an elastic driving base, a piezoelectric ceramic driver, a guide pillar, a contact, a shifting plate, a pretightened press plate and multiple balls, the upper end face of the piezoelectric ceramic driver is connected with the lower end face of the upper elastic plate of the elastic driving base, the lower end face of the piezoelectric ceramic driver is connected with the upper end face of the contact, the lower end face of the contact is connected with the upper end face of the shifting plate, the lower end face of the pretightened press plate is connected with the upper end face of a lower elastic plate of the elastic driving base, and two longitudinal ends of the shifting plate are disposed outside a square cavity of the elastic driving base and detachably connected with a base respectively. The three-degree-of-freedom integrated stick-slip linear positioning device is used for positioning articles.