The invention discloses a cantilever welding machine of fillet weld in a narrow space. The cantilever welding machine comprises a lifting mechanism, a transverse moving mechanism, a welding mechanism,an electric controller and an electric welding machine, wherein the lifting mechanism is vertically arranged, the transverse moving mechanism is arranged on the lifting mechanism, and the lifting mechanism drives the transverse moving mechanism to move up and down; the welding mechanism is arranged on the transverse moving mechanism, the welding mechanism can move on the transverse moving mechanism, the welding mechanism is connected with the electric welding machine, the electric welding machine is connected with the electric controller; and the lifting mechanism and the transverse moving mechanism are both connected to the electric controller, and the electric controller can control the lifting mechanism and the transverse moving mechanism to move. According to the cantilever welding machine, the operation is simple, digital, accurate and controllable.