The invention discloses a steel beam lifting three-axis adjusting device with a ground gradient self-adaption function, and relates to the technical field of adjusting devices.The adjusting device comprises a main jacking oil cylinder, a clamp mechanism, a frame, a sliding mechanism, a rear supporting wheel mechanism, a front driving wheel mechanism, a substation control box, a hydraulic power mechanism and a heat dissipation mechanism; the device comprises a clamp mechanism, a main jacking oil cylinder, a sliding mechanism, a frame, a rear supporting wheel mechanism, a front driving wheel mechanism, a rear supporting wheel mechanism, a front driving wheel mechanism, a rear supporting wheel mechanism, a rear driving wheel mechanism, a rear supporting wheel mechanism, a front driving wheel mechanism, a rear supporting wheel mechanism, a rear driving wheel mechanism, a rear driving wheel mechanism, a rear driving wheel mechanism, a rear driving wheel mechanism, a rear driving wheel mechanism and a rear driving wheel mechanism, and an on-site operation box, a protection plate, an upper oil cylinder protection cover and a lower oil cylinder protection cover. The substation control box, the hydraulic power mechanism, the heat dissipation mechanism, the on-site operation box, the upper-layer oil cylinder protection cover, the lower-layer oil cylinder protection cover and the frame are connected in a fastened mode.