The invention provides a burr removal device and a burr removal method. The burr removal device (100) comprises: grinding components (21, 31) which includes rotating shafts (25, 35) and grinding faces (21C, 31C) rotated along with and orthogonal to the rotating shafts (25, 35); a displacement component (10) which enables a grinded component (1) and the grinding components (21, 31) to relatively displace down a straight path; driving components (20, 30) which drive the grinding components (21, 31) to apply the grinding components (21, 31) to the grinded component (1) at a first grinding position that deviates from a central path of the grinded component (1), and to apply the grinding components (21, 31) to the grinded component (1) at a second grinding position that is isolated from the central path of the grinded component (1) and offset at one side opposite to the first grinding position.