The invention discloses an end slope mining goaf filling machine and a filling method thereof, and relates to the technical field of coal mine goaf gangue filling. The end slope mining goaf filling machine comprises a crawler walking part, a machine body, a driver control room, a hydraulic pump station, an upper push plate mechanism and a lower push plate mechanism. According to the disclosed theend slope mining goaf filling machine and the filling method thereof, roadways and large-section goaf after open-pit mine end slope mining can be filled, automatic goaf roadway filling is realized, and compacting and solidifying operations on filling materials can be carried out, so that the filling rate of the filling materials is ensured, the top contact rate of the filling materials is improved, the filling effect is enhanced, the problems of uneven filling, roof descending and the like are effectively prevented; and meanwhile, the filling machine is high in maneuverability, can be used incooperation with other conveying and filling equipment for open-pit mine end slope mining, further saves the filling cost, improves the filling effect, and has high innovativeness and wide practicability.