The invention relates to access authentication of power terminal equipment, and aims to provide a power terminal cloud edge-end cooperative security access authentication method based on edge computing. The method comprises one-time authentication when the power terminal is accessed and continuous authentication after the power terminal is accessed, wherein the one-time authentication is jointly participated by the power terminal, the edge device and the cloud platform, and the continuous authentication is only participated by the power terminal and the edge device. According to the invention, a continuous authentication link is introduced to enhance security, and a lightweight identity authentication mechanism is realized by a password and non-password means. According to the method, mechanism design is carried out by using the white list, the digital signature and the challenge response, so that feasibility is guaranteed; in terms of security, one-time complex authentication is considered to fully ensure access security during access, and continuous simple authentication after access is used as a supplement to improve the security; and the advantages of edge calculation are fully played in conciseness, and a simple authentication mechanism is selected to reduce calculation pressure.