The invention provides a method and device for controlling an AMT gear selecting and shifting executing mechanism. The method and device are applied in the gear selecting and shifting process, and the control method includes the steps of determining that gear shifting is failed, judging whether a gear selecting position sensor breaks down or not, controlling a gear shifting finger to move to the position, corresponding to a target gear, of the gear shifting finger in the gear selecting direction in a first driving time mode to complete the gear selecting process if the gear selecting position sensor breaks down, judging whether a gear engaging position sensor breaks down or not, and controlling the gear shifting finger to move to the position, corresponding to the target gear, of the gear shifting finger in the gear engaging direction in a second driving time mode to complete the gear engaging process if the gear engaging position sensor breaks down. In this way, by means of the control method, whether the position sensor breaks down or not can be timely found, remedial actions can be taken after it is found that the position sensors break down, the gear of a vehicle can be engaged in time, the problem that the gear of the vehicle cannot be engaged for a long time, so that power is off is solved, and the risk of road accidents is reduced.