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This invention discloses 4,5,6,7-tetrahydrothieno[2,3-c]pyridine-3-carboxamide compounds, their preparation methods, and applications, belonging to the field of pharmaceutical technology. Specifically, the general structural formula of the 4,5,6,7-tetrahydrothieno[2,3-c]pyridine-3-carboxamide compounds or their pharmaceutically acceptable salts is shown in Formula I, where R1 is defined in the claims and specification. The 4,5,6,7-tetrahydrothieno[2,3-c]pyridine-3-carboxamide compounds or their pharmaceutically acceptable salts provided by this invention, as inhibitors of vascular endothelial growth factor receptor 2 (VEGFR-2) kinase and epidermal growth factor receptor (EGFR) kinase, can be used to prepare drugs for the treatment or prevention of tumors related to VEGFR-2 kinase and EGFR kinase, demonstrating good application value and promising development prospects.