The invention discloses a method for preparing biodiesel through high-temperature esterification reaction of high acid value oil, belonging to the technical field of biodiesel preparation. The method comprises the following steps: (1) esterification reaction, adding the high acid value oil and a catalyst into an esterification reactor, dripping methanol into the esterification reactor by using a dripping device for esterification reaction, meanwhile, cooling unreacted methanol and moisture generated in reaction by using a condensing device, and after the reaction is finished, removing the methanol and the moisture through distillation to obtain a biodiesel crude product; and (2) distillation treatment, distilling the obtained biodiesel crude product under reduced pressure, and collecting fraction, namely a biodiesel finished product. The method disclosed by the invention realizes the one-step esterification reaction of the high acid value oil under the conditions of normal pressure and high temperature, and the esterification process and the water cooling and removal are carried out simultaneously for the preparation of the biodiesel, so that the method has the advantages of easy process, short production cycle, low energy consumption and the like, is easy to industrially produce, and can significantly increase the yield of the biodiesel per unit time and the output of a single kettle.