The invention provides a multi-station spindle-swinging-type five-axis numerical control engraving and milling machine. The multi-station spindle-swinging-type five-axis numerical control engraving and milling machine comprises a machining rack which is formed by a machine body base, stand columns on the two sides and a fixed transverse beam at the tops of the stand columns, wherein a C-axis system is installed on the machine body base, a Z-axis seat frame is arranged at the rear between the machine body base and the fixed transverse beam, an X-axis moving system is arranged on the Z-axis seat frame, a Y-axis moving system is arranged on the X-axis seat frame, a spindle seat frame is installed on the Y-axis seat frame, and a plurality of spindle motors and cutters are installed on the spindle seat frame. The spindle seat frame is connected to the Y-axis seat frame through two rotatable joint mechanisms, and the spindle seat frame drives spindles and the cutters to swing around rotatable joints under the effect of a driving system which is formed by a servo motor, a lead screw and nut pair, a connecting rod and a hinging mechanism to realize the swinging of the spindles. The multi-station spindle-swinging-type five-axis numerical control engraving and milling machine can be applied to processing engraved parts made of wood, bamboo, stone, organic glass, PVC (Polyvinyl Chloride), aluminum alloy, copper alloy and the like, the intact, high-speed, stable and high-quality processing of the engraved parts can be realized, and the processing at multiple stations can be realized at the same time.