The invention belongs to the technical field of vehicle control system network security detection, and particularly relates to a vehicle control system network security detection method based on a multi-stage feedback queue. The method is implemented based on a detection system, and the system comprises a vehicle control network topology detection module, a vehicle control network protocol analysis module, a vehicle control network equipment vulnerability scanning module, a security vulnerability and security event POC library, a security event priority queuing module, a security event backupqueue registration module and a security event injection detection module. According to the method, the security event queues for injection detection are sequentially generated, the security events are injected and detected by adopting a multi-stage feedback queue round-robin scheduling mechanism, security holes and vulnerabilities of the vehicle control network can be accurately positioned, and an autonomous and controllable network security detection target of the vehicle control system is achieved. The scheme is high in automation degree, the security event injection detection mechanism isreasonable, efficient and accurate, the detection scene conforms to the real attack behavior of an attacker, and the whole network security detection process is autonomous and controllable.