The invention discloses a ground vacuum oiling device for oil drilling rotary steering tools. A device body comprises a circulation system, a vacuum system, an automatic control system and a vacuum pressure balance pipeline. The circulation system comprises an oiling motor, an oiling pump, a granulometer, an oil pressure gauge, a stop valve, a filter, an oil tank, an oil inlet pipeline, an oil returning pipeline and a quick coupling connected with the pipelines; the vacuum system comprises a vacuum pump, a vacuum gauge, a vacuum degree display unit, a connection pipeline and a connection joint; the control system comprises a computer, a programmable logic controller, and a driving circuit power supply; the vacuum pressure balance pipeline comprises a pressure balance pipeline, a pipeline joint and a balance joint; a rack structure of the circulation system, the vacuum system and the control system is installed; and a temperature display unit and a force display unit are installed.