The invention discloses a melon and fruit picking device and a picking method thereof, which relate to the technical field of agricultural equipment. The melon and fruit picking device comprises a clamping device, a cutting device and a control device, wherein the clamping device comprises a step motor, a driven gear, a left support swinging rod, a left finger, a driving gear, a right support swinging rod, a right finger and supporting blocks, the supporting blocks are arranged under the left finger and the right finger, the driving gear and the step motor are connected, the driving gear and the driven gear are connected through a gear pair, the left finger is arranged at the end parts of the left support swinging rod and the driven gear, the right finger is arranged at the end parts of the right support swinging rod and the driving gear, the cutting device comprises a cutter, a swinging air cylinder and an electromagnetic reversing valve, the cutter is arranged on an output shaft of the swinging air cylinder, the electromagnetic reversing valve is arranged on the swinging air cylinder, the swinging air cylinder is arranged on a cutter frame, and the cutter frame is arranged on a back seat vertically and fixedly arranged on a base. The melon and fruit picking device and the method can be used for automatically picking melons and fruits, and a large amount of time and labor canbe saved for laborers.