An automatic prepreg tape laying device, comprising a feeding mechanism, a laying mechanism, a cutting mechanism, a guiding mechanism and a reversing mechanism, the feeding mechanism comprises a left tape roll, a right tape roll, a first pair of clamping rollers, a Two pairs of nip rollers, a first prepreg tape and a second prepreg tape, the laying mechanism includes a first pair of heating rolls, a first pressing roll, a first pair of rolls for laying, a second pair of rolls for laying, a second pair of rolls for laying Two pressing rollers and a second pair of heating rollers, the guiding mechanism includes a first guiding mechanism, a third guiding mechanism and a second guiding mechanism, the cutting mechanism includes a double-head laser cutter and a support frame, the The reversing mechanism includes a first reversing mechanism and a second reversing mechanism. The prepreg tape automatic laying device does not need to be laid layer by layer at a time, which greatly improves the production efficiency, and at the same time, it does not need to return or turn around in an empty way, which saves the laying time.