The invention relates to the technical field of picking devices, in particular to an agricultural liftable fruit picking device. The device comprises a tray, fixing cylinders, an electric telescopic rod, a supporting disc, a motor, a bearing plate and universal wheels, wherein the fixed cylinders are fixedly arranged in the tray, arc-shaped fixing plates are arranged in the middle of the inner wall of each fixing cylinder, and the arc-shaped fixing plates are connected with the inner walls of the fixing cylinders through springs; the bottom of the tray is connected with the electric telescopicrod, and a motor is arranged between the supporting disc and the bearing plate; a group of vertical plates are symmetrically arranged on the right side of the upper end face of the bearing plate, andthe two vertical plates are connected through a transverse plate; a group of mounting blocks are transversely and symmetrically arranged on the left end face of the transverse plate, a connecting rodis arranged between the mounting blocks, and the universal wheels are arranged at the bottom of the bearing plate. The fruit picking device has the functions of lifting and rotating; when the fruit picking device is used for picking fruits, the picked fruits can be stably and safely transported to the ground, so that it is guaranteed that the fruits are prevented from being damaged; moreover, thetransportation efficiency is high, and labor is also saved.