The invention discloses a preparation method of dense sintering type composite aluminum nitride ceramics, and belongs to the technical field of inorganic ceramic materials. The preparation method comprises the following steps: firstly uniformly mixing alcohol aluminum salt, silicate ester, fatty acid, an alcohols solvent-nano-iron powder and sodium fluoride, then adding carbon fiber / graphene oxideaerogel, and carrying out ultrasonic immersing, thus obtaining a mixed immersing solution; after heating and carrying out ultrasonic reaction on the mixed immersing solution, filtering, washing, anddrying, thus obtaining loaded filling aerogel; then reducing the loaded filling aerogel by hydrazine hydrate, thus obtaining reduced loaded filling aerogel; then carrying out temperature rising reaction on the reduced loaded filling aerogel step by step under a nitrogen protection state, thus preparing composite aluminum nitride powder; then mixing the composite aluminum nitride powder with calcium oxide, magnesium oxide, polyvinyl butyral and a solvent, molding through injection molding, then carrying out high-temperature sintering, and cooling, thus obtaining the dense sintering type composite aluminum nitride ceramics. The dense sintering type composite aluminum nitride ceramics obtained by the invention has excellent mechanical performance and excellent heat conduction efficiency.