The invention provides a semi-submersible unmanned vehicle submarine three-dimensional terrain detection device and method. The device comprises a semi-submersible unmanned vehicle composed of a floating body and a main hull, wherein an antenna is installed above the floating body, a multi-beam sonar terrain detection system, an attitude sensor, a sound velocity profiler, an inertial navigation system, a main control computer and a battery are installed on the main hull, and the multi-beam sonar terrain detection system comprises a processing extension, a transmitter, a receiver, a transmittedsound array, a received sound array and a sonar host. According to the device, task planning and scanning are performed through the semi-submersible unmanned vehicle carrying the multi-beam sonar terrain detection system, a water depth value is obtained through calculation according to back-and-forth time of sound waves, the angle of arrival of a beam and data obtained after time synchronous correction is performed by use of 1PPS, and a submarine three-dimensional terrain map is generated. The device has the advantages that a wave region is avoided, communication and positioning are not limited, the self-stability and invisibility are excellent, the measurement range is wide, measurement speed is high, and measurement efficiency is high.