The invention relates to a method for synchronously extracting soybean oil, soybean milk powder and soybean dietary fiber by an aqueous enzymatic method, which belongs to the technical field of plant grease processing. The method comprises the following steps: 1) dehulling soybeans and crushing the soybeans, extruding and puffing the material to obtain a puffed product; 2) adding water into an enzymatic hydrolysis reaction vessel, heating steam and adding the puffed product to obtain a mixed liquor, performing alkaline extraction on the mixed liquor, adding alkali protease for performing enzymatic hydrolysis, using a horizontal centrifuge after enzymatic hydrolysis is carried out for performing centrifugation to obtain an emulsified oil, a hydrolysate and residues; 3) using a disk centrifuge for performing centrifugation on the emulsified oil to obtain the soybean oil and a water phase, adding the water phase into the hydrolysate for concentration, and drying the material to obtain the soybean milk powder; and 4) adding water for mixing the water and the residues for homogenizing and drying a mixture to obtain the soybean dietary fiber. The method has the advantages of simple process, less enzyme usage amount, short reaction time, and low cost. The prepared high-quality soybean oil can obtain the high-nutrition partly-defatted soybean milk powder and high-oil high-protein soybean dietary fiber, and is suitable for industrial continuous production.