The invention provides a method for separating and purifying ursolic acid from rosemary, wherein the method comprises the following steps: 1) taking dried rosemary leaves, carrying out reflux extraction on the dried rosemary leaves by an ethanol-water solution, and filtering to obtain a filtrate 1; concentrating the filtrate 1 under reduced pressure, adding water, and standing for cooling; filtering to obtain a filter cake 1, and stirring the filter cake 1 with an acid-ethanol-water solution; 2) filtering to obtain a filter cake 2, and carrying out reflux extraction on the filter cake 2 by analkali-ethanol-water solution; and filtering to obtain a filtrate 2, and adding activated carbon into the filtrate 2, and decolorizing; and 3) filtering to obtain a filtrate 3, adding an acid-water solution into the filtrate 3 until no precipitate appears, carrying out suction filtration to obtain a filter cake 3, and repeatedly crystallizing the filter cake 3 by an ethanol-water solution. According to the method, a pickling step is added in the separation and purification process by utilizing different dissolvability, impurities with polarity larger than that of ursolic acid and similar to that of ursolic acid can be effectively removed in the pickling step, a great purification effect is achieved on the subsequent acid precipitation step, the recrystallization frequency can be reduced, and high-purity ursolic acid is obtained.