The invention is applicable to the terahertz optical field, and provides an electro-optic sampling device used for measuring terahertz optical pulse and a measuring method thereof. The device comprises a polarizer, an electro-optic sampling crystal, a beam splitter, a first phase compensator, a second phase compensator, a first analyzer, a second analyzer and a balanced detector. In the device, the detection light modulated by the terahertz optical pulse is divided into two paths, one of which passes through the first phase compensator and the first analyzer and is received by a first receiver, and the other one passes through the second phase compensator and the second analyzer and is received by a second receiver; therefore, the two beams of optical pulse introduced into the balanced detector have the similar noise characteristic, so as to be beneficial to eliminating background noise. Furthermore, the first phase compensator is regulated to lead one path of light to work at the position with the best optical modulation degree, and the second phase compensator is regulated to lead the static birefringence phase values of the two paths of light to be opposite numbers, so that the linear working range is not affected by static birefringence phase, and the signal to noise ratio can be optimized.