The telescopic arm driving structure comprises a telescopic arm device arranged on a vehicle body, the telescopic arm device comprises a first arm body, the first arm body is arranged at the end, close to a slagging-off head, of the vehicle body in a lifting mode through a jacking mechanism, the first arm body is hinged to the jacking mechanism, and the first arm body is arranged on the vehicle body. The telescopic arm driving structure comprises a vehicle body, a first arm body is hinged to the vehicle body through a jacking mechanism, a second arm body is arranged on the first arm body in a telescopic mode, and a third arm body is arranged in the second arm body in a telescopic mode. The first arm body does not need to be arranged to be as long as the second arm body, compared with the prior art, part of the structure of the first arm body is omitted, space is saved, the weight of the first arm body is reduced, and manufacturing cost is reduced; the weight of the first arm body is reduced, so that the load of the gear rack driving mechanism and the telescopic oil cylinder is reduced, and the service life is prolonged.