The invention discloses a milk atmospheric pressure filling machine. The milk atmospheric pressure filling machine comprises a liquid storage tank (1), a filling valve (2), a spindle (3), bottle support trays (5), a bottle inlet pulling wheel (6), a bottle outlet pulling wheel (7), a lifting device (9) and a transmission device (10); the bottom end of the liquid storage tank is fixedly provided with the filling valve and matched with the filling valve, the liquid storage tank (1) is fixedly arranged on the spindle, the periphery of the spindle is provided with the bottle support trays, the bottoms of the bottle support trays are provided with a guide plate (8), the guide plate is symmetrically provided with the bottle inlet pulling wheel and the bottle outlet pulling wheel, the bottle inlet pulling wheel is matched with the bottle outlet pulling wheel, a rack is arranged under the guide plate, the rack is internally provided with the lifting device and the transmission device, the bottle support trays sleeve the lifting device and are matched with the lifting device, and the spindle penetrates through the rack and is connected with the transmission device. The milk atmospheric pressure filling machine has the advantages that the structural design is simple and reasonable, the humidity and temperature of the liquid storage tank are controlled accurately, the leakproofness of thepipelines is excellent, a lifting rod drives a bottle support tray rod to ascend and descend, so that the bottle support tray rod cannot deviate, and a lifting rod sliding sleeve cannot cause friction when ascending and descending in a bottle support tray rod sleeve.