The invention relates to a method for preparing a trivalent cation doped Ni-Co-Mn ternary material by direct precipitation. The method is characterized in that the molar ratio x:y:z:k:m of Ni, Co, Mn,Li and doped trivalent M cation meets the condition that x:y:z:m is equal to (0.47-0.52):(0.10-0.20):(0.26-0.35):(0.01-0.10) or (0.57-0.62):(0.10-0.19):(0.15-0.25):(0.01-0.10), or (0.77-0.82):(0.05-0.10):(0.05-0.13):(0.01-0.10), wherein, k is not less than 0.95, and not more than 1.10, and the sum of x, y, z and m is 1. Weighed Ni, Co, Mn, Li and doped trivalent M cation are mixed with a wet-milling medium, ammonia liquor and a lithium compound are added, and the trivalent cation doped Ni-Co-Mn ternary material is prepared through steps of aging, drying, sintering and the like.