The invention provides a steel plate lifting and transporting device which comprises a base, a guiding device, two groups of connecting rod mechanisms, a support, a lifting oil cylinder mechanism and a rolling wheel mechanism. The guiding device comprises a supporting seat, a barrel and a guiding column, wherein the supporting seat is fixed on the base, the barrel is fixed on the supporting seat, the guiding column can vertically and movably sleeved by the barrel, and the upper end of the guiding column is fixed on the support. When the support lifts and descends, the guiding device is used for limiting the lifting direction of the support. The two groups of connecting rod mechanisms are parallelly arranged in the longitudinal direction of the steel plate lifting and transporting device. Each group of connecting rod mechanisms comprises a left upper connecting rod, a right upper connecting rod, a left lower connecting rod, a right lower connecting rod and a middle connecting rod, wherein one end of each left upper connecting rod is connected to the support in a pivoted mode, one end of each lower connecting rod is connected to the base in a pivoted mode, the other end of each upper connecting rod is in pivoted connection with the other end of the corresponding lower connecting rod, and the middle connecting rod is connected between the left and right upper connecting rods and the left and right lower connecting rods. When the support lifts and descends, the connecting rod mechanisms lift and descend with the support.