The invention belongs to the technical field of ceramic materials, and particularly relates to a preparation method of high-density boron carbide ceramic, which comprises the following steps: S11, carrying out primary slurry preparation on boron carbide, and carrying out ball milling; s12, drying, crushing and sieving the ball-milled powder to obtain boron carbide modified powder; s21, carrying out secondary slurry preparation on the boron carbide modified powder and deionized water, adding a dispersing agent, and carrying out ball milling; s22, adding a sintering aid, a binder and a release agent, and continuing ball milling to obtain slurry; performing spray granulation: sieving the slurry, and performing spray granulation to obtain granulation powder; aging the granulated powder: adding ethanol into the granulated powder, uniformly stirring, adding into a sealed bag, and aging; dry-pressing the granulated powder: uniformly mixing the coarse granulated powder and the fine granulated powder according to a certain proportion, and pressing the mixed powder by using a dry press to obtain a biscuit; and high-temperature sintering: carrying out one-time debonding and sintering on the biscuit to obtain the boron carbide ceramic.