The invention discloses a binocular vision-based express parcel grabbing method and device. The method includes the steps of coordinate system establishing, image preprocessing, angular point detection, contour extraction and determination of a robot grabbing position and posture. According to the express parcel grabbing device, a binocular camera is arranged at the top end of a device bracket, acage car is arranged below the binocular camera, and a six-axis mechanical arm is arranged on one side of the cage car; the six-axis mechanical arm is equipped with a mechanical gripper. The method and device have the beneficial technical effects that operation objects are express parcels, and the shapes are basically similar to cuboid; the device has the main functions of recognition of key points in images, recognition of parcel contours, calculation of grabbing position and posture of the tail end of the grasping robot, control of grasping trajectory and the like, the integration of the functions is realized, the workspace is saved, the operation accuracy is ensured, the intelligent level of work is improved, and the method and device can be integrated with wider-range express sorting systems subsequently.