The invention relates to an unmanned vehicle multi-sensor data synchronous acquisition system which comprises an environment awareness data acquisition device, an Ethernet switch 1, an inertial navigation data acquisition device, a vehicle control unit, an instruction issuing and vehicle state feedback Nport, an Ethernet switch 2, a planning industrial personal computer, a sensing industrial personal computer, a CAN data acquisition device, a CAN network, and a CAN network data acquisition device. The planning industrial personal computer stores CAN network data, a corresponding relation between bottom layer time issued by the vehicle control unit through the CAN network and the time of the timer of the CAN data acquisition device, and inertial navigation data. The sensing industrial personal computer stores environment awareness data, and achieves synchronous association of the CAN network data, the environment awareness data, and the inertial navigation data using the bottom layer time issued by the vehicle control unit as marks. A test shows that the unmanned vehicle multi-sensor data synchronous acquisition system is stable and reliable, and provides technical guarantee for the synchronous replaying of the unmanned vehicle environmental information data, the navigation and positioning data, the vehicle attitude information and vehicle bottom state information.