The invention relates to the technical field of clamps, in particular to a self-centering floating driving device which comprises a chuck body, a tip, a clamping jaw assembly, a main piston, an auxiliary piston, a base, a tailstock and a driving device body. The self-centering floating driving device provided by the invention has a reasonable and compact structure, the driving device drives the main piston to move leftwards, one end of a to-be-machined workpiece is placed to abut against the right end of the tip, the tip achieves a centering effect on the to-be-machined workpiece, and then, the main piston moves rightwards; since each clamping jaw is hinged and connected to the outer side of the chuck body, so that the clamping jaws can float according to the specification of a workpiece to be machined in the clamping process; finally, the workpiece to be machined is clamped under the effect of a reset elastic piece, the clamping position can be automatically adjusted, over-positioning of the clamping jaws is avoided, and high-precision clamping positioning is achieved; and the connecting plate can be prevented from deviating in the process of rotating along with the chuck body through the limiting groove, the stability of the self-centering floating driving device in use is enhanced. The self-centering floating driving device has the advantages of small clamping precision deviation, multi-procedure one-time clamping capability, positioning accuracy, stability and high efficiency.