The invention discloses a non-contact measurement device and method for sound velocities of surface waves and plate waves. The non-contact measurement device comprises an emitting probe, a receiving probe, an embedding system, a pre-amplifier, a signal collecting and processing module, a motor driving device, a scanning frame, a pulse emitter and a power supply, wherein the power supply is connected with the scanning frame, the pre-amplifier, the signal collecting and processing module, the motor driving device, the pulse emitter and the embedding system, respectively; the scanning frame is connected with the embedding system, the signal collecting and processing module, the motor driving device and the pulse emitter, respectively; the emitting probe is connected with the pulse emitter; the receiving probe is connected with the pre-amplifier; the embedding system is connected with the signal collecting and processing module, the motor driving device and the pulse emitter, respectively;the pre-amplifier is connected with a pulse amplifier and the signal collecting and processing module; the signal collecting and processing module is connected with the pre-amplifier and the embedding system; and the motor driving device is connected with the embedding system.