The invention discloses a walnut picking machine. The walnut picking machine comprises a main supporting rod, a fixed base, a first gear base, a second gear base, an angle adjusting mechanism, a universal driving shaft, a driving mechanism, gear transmission mechanisms, a linkage rod and a picking head, wherein the fixed base is fixed to the lower end of the main supporting rod, the angle adjusting mechanism is arranged between the first gear base and the second gear base, the universal driving shaft is arranged inside the main supporting rod in a rotating mode, the driving mechanism is arranged on the fixed base, the gear transmission mechanisms are arranged inside the first gear base and the second gear base and drive the linkage rod to move up and down, and the picking head is fixed to the upper end of the linkage rod, moves up and down along with the linkage rod and is provided with an opening clamping branches. According to the walnut picking machine, the angle adjusting mechanism and the transmission mechanisms adopting spiral bevel gears are arranged so that fruits on the branches of different angles and shapes can be picked, the picking rate is higher, the structure is simple and compact, the safety and the reliability are high, and the danger that workers fall down when climbing up to pick the fruits is avoided.