The invention relates to a continuous fiber reinforced thermoplastic resin melt impregnation 3D printing device and a method, wherein thermoplastic resin is used as a matrix, and continuous glass fiber or carbon fiber is used as a reinforcement. The 3D printing device comprises an extruder, an unwinding roller, a pre-tensioning roller, an infrared radiation device, a gas-assisted swinging device,a wire wetting mold, a cooling device and a 3D printer. A continuous fiber bundle is firstly pre-dispersed by the pre-tensioning roller, the upper surface and the lower surface of the continuous fiberare pre-heated by the infrared radiation device, the pre-heated continuous fiber is unfolded to a certain width under the action of the gas-assisted swinging device, then the pre-heated continuous fiber enters the wire wetting mold, the wetting process of the resin matrix on the fiber bundle is completed under the action of a wave-shaped runner, the fiber bundle is conveyed forwards by the traction of an inner traction roller and passes through a circular shaping die to form continuous fiber prepreg filaments which can be used for 3D printing, and cooling, feeding and printing are carried outto finally obtain the 3D printed product of the continuous fiber reinforced thermoplastic composite material. According to the device and the method, uniform dispersion and full impregnation of the continuous fiber in the resin matrix can be realized, the 3D printing continuous fiber reinforced thermoplastic composite material product with good interface bonding and excellent performance can be prepared, and meanwhile real-time integrated forming of continuous fiber consumables and the 3D printing composite material product can be realized.