The invention relates to a comprehensive measuring device of static and dynamic rigidity of a ball screw. The comprehensive measuring device comprises a base plate, a linear feeding mechanism, a torque static and dynamic rigidity measuring mechanism, an axial static and dynamic rigidity measuring mechanism and a transverse static and dynamic rigidity measuring mechanism. The linear feeding mechanism comprises a servo motor, a torque sensor, a ball screw and a lead screw nut base. The torque static and dynamic rigidity measuring mechanism comprises two angle plates, two flanges, two circular gratings and two circular grating reading heads. The axial static and dynamic rigidity measuring mechanism comprises an electric cylinder, two connecting plates, two guiding rods, two springs and two tension-compression sensors. The transverse static and dynamic rigidity measuring mechanism comprises a linear guide rail, a sliding block, an electric cylinder, two pressure sensors, two universal balls, a first cardan, a connecting sleeve, a linear bearing, a sliding rod, an elastic box and a linear measuring block. The comprehensive measuring device can be used for torsional, axial and transverse static and dynamic rigidity measuring of the ball screw.