The utility model provides a fork-type AGV (Automatic Guided Vehicle) capable of laterally taking and placing goods. Comprising an intelligent AGV, an extending block, a vertical carrying plate, a first motor, a first screw rod, a second motor, a second screw rod, a transverse guide groove, a third motor, a third screw rod, a transverse moving block, a moving table, a fourth motor, a steering plate, a protection plate and fork teeth. The second motor drives the second screw to control lifting of the transverse guide groove, the third motor and the third screw are matched to drive the fork teeth to move transversely, the fourth motor drives the steering plate to achieve rotation of the fork teeth, and finally lateral accurate taking and placing of goods are completed. The fork type AGV breaks through the limitation that a traditional fork type AGV can only work in the forward direction, greatly improves adaptability, operation efficiency and safety in a complex storage environment, and has the advantages of being compact in structure, flexible to control and high in practicability.