The invention relates to a straw bale picking device. The straw bale picking device comprises a picking structure, a conveying structure and a base plate, wherein the picking structure is used for picking up straw bales from the ground, the conveying structure is located at one end of the picking structure and used for conveying the straw bales to the designated position, and the base plate provides power. The picking structure at least comprises a groove-type picking frame, a picking rotating shaft and picking chains, wherein the picking frame is fixedly connected with the base plate, the picking rotating shaft is located at the bottom of the picking frame, and the picking chains are located on the two sides of the picking frame. The picking rotating shaft rotates, the picking chains rotate, and the picking rotating shaft and the picking chains jointly act to obliquely stir the straw bales upwards. In the straw bale picking process, the picking rotating shaft rotates, the picking chains rotate, and the picking rotating shaft and the picking chains jointly act to obliquely stir the straw bales upwards, so that the straw bales cannot be extruded, force applied to the straw bales is uniform, and the shapes of the straw bales are effectively protected.