The invention discloses a rotary steel-pipe grinding device which comprises a workbench, support legs, a rotary disc, a fixing pillar and grinding rods. The rotary disc is rotatably connected to the upper surface of the workbench, the fixing pillar is fixedly connected to the left side wall of the workbench, a top plate is fixedly connected to the top of the fixing pillar, a guide rail is mountedon the lower surface of the top plate, a sliding plate is slidably connected on the guide rail, a telescopic mechanism is fixedly connected to the lower surface of the sliding plate, a mounting plateis fixedly connected to the lower surface of the telescopic mechanism, a fixing block is fixedly connected to the lower surface of the mounting plate, a threaded rod is rotatably connected to the sidewall of the fixing block, the threaded rod is sleeved with a movable block, and the grinding rods are fixedly connected with the lower surface of each of the fixing block and the movable block. A steel pipe clamped rapidly through clamping blocks, high loading and unloading speed is achieved, the inner wall and the outer wall of the steel pipe are ground simultaneously by the aid of the grindingrods, grinding efficiency is improved greatly, time is saved, certain damping effect is achieved by the aid of a spring, and vibration of the grinding device in operation is reduced.