The invention relates to the technical field of welding, in particular to an aclinal self-upsetting, stirring and friction welding method and tool. The tool comprises a stirring head and a stirring needle, the stirring head is of a hollow structure, the stirring needle is rotatably arranged in the hollow structure of the stirring head and can stretch and retract in the stirring head, the axis of the stirring head and the axis of the stirring needle are overlapped, a shaft shoulder of the stirring head is provided with a forging boss, and the height of the forging boss is smaller than the height of the stirring portion left after the stirring needle extends out of the stirring head. In the whole welding process, a dip angle adjusting mechanism does not need to be arranged on equipment, complexity of the welding equipment is reduced, the angle between the shaft shoulder of the stirring head and a plane normal of a material to be welded is 0 degree, and accordingly aclinal stirring friction welding is achieved. When an aclinal stirring friction welding technology is adopted in two-dimensional plane welding, the angle of the stirring head does not need to be adjusted at a welding seam corner, welding procedures are reduced, meanwhile, the dip angle adjusting mechanism does not need to be arranged on the equipment, complexity of the welding equipment is reduced, and welding efficiency is improved.