The invention belongs to a rubber shoe lining impregnation device and a method for automatically impregnating rubber shoe linings by the rubber shoe lining impregnation device. The impregnation device comprises a driving part, a frame, an oven, a driven wheel part, mold cars, a chain part, an impregnation groove, a steam pipeline and moisture exhaust parts, wherein the driving part, the oven, the driven wheel part, the mold cars, the chain part, the impregnation groove, the steam pipeline and the moisture exhaust parts are fixed on the frame. The rubber shoe lining impregnation device is characterized in that the driving part and the driven wheel part are distributed at two ends of the frame, the oven and the impregnation groove are sequentially arranged in the frame from left to right, the chain part is sleeved with the driving part and the driven wheel part respectively, the driving part drives the driven wheel part to rotate by the chain part, the mold cars are arranged on the chain part, shoe trees are arranged on the mold cars and provided with shoe linings, and the shoe trees on the mold cars sequentially pass the impregnation groove and the oven as the chain part rotates. The rubber shoe lining impregnation device and the method for automatically impregnating the rubber shoe linings can substitute for a manual rubber coating mode, production efficiency is greatly improved, stability in production is ensured, and serious harms to health of workers due to pollution are avoided.