The invention provides a preparation method of fermented soybean milk and relates to the technical field of food fermentation. The preparation method primarily comprises (1), cleaning soybeans, peeling, degerminating and soaking; (2), processing through a jet cavitation machine, separating milk from bean dregs, and flashing; (3), extracting soybean milk, adding stabilizers into the soybean milk and dissolving, blending, homogenizing, sterilizing and cooling; (4), fermenting. The fermented soybean milk is fermented based on full vegetation without any bean flavor, bitter taste or other bad smell, has smooth taste, thick fermented fragrance, rich nutrition, low production cost and good flavor, and is free of animal origins in production.