The invention discloses a semi-automatic tank car loading arm and a control method thereof. The semi-automatic tank car loading arm comprises a stand column, a liquid-phase arm and a gas-phase arm. The liquid-phase arm and the gas-phase arm each comprise an inlet connecting piece, an inner arm, an outer arm, a vertical pipe, a pneumatic power assisting system, a nitrogen purging system, an emptying system, spring balance mechanisms, hydraulic driving mechanisms and low-temperature rotary joints. For each arm, the inlet connecting piece is fixed to the stand column and connected with the innerarm through a first rotary joint; the inner arm is connected with the stand column; the inner arm, a second rotary joint, a right-angled elbow, a third rotary joint, the outer arm, a fourth rotary joint, a right-angled elbow, a fifth rotary joint and the vertical pipe are connected in sequence; the nitrogen purging system and the emptying system are respectively arranged on the inner arm and the outer arm; the two spring balance mechanisms are arranged between the third rotary joint and the outer arm, as well as between the fifth rotary joint and the vertical pipe respectively; and the hydraulic driving mechanisms are arranged between the stand column and the inner arm, at the second rotary joint, between the third rotary joint and the outer arm and between the fourth rotary joint and thevertical pipe respectively. Operation efficiency of the loading arm can be improved.