The invention discloses a multi-degree-of-freedom cone-beam CT imaging system in the field of CT imaging technology, which includes: a six-axis mechanical arm, a C-shaped bracket with a translation device, a flat panel detector bracket with a double translation device and a rotation device, and The X-ray light source, wherein: the end of the six-axis mechanical arm is connected to the C-shaped support, and the two ends of the C-shaped support are respectively connected to the flat panel detector support and the X-ray light source. The device involved in the present invention has high flexibility, and can realize multiple scanning modes of cone beam CT axial scanning, helical scanning and non-coplanar scanning, as well as functions such as online real-time adjustment of imaging geometric parameters, and has flexible scanning methods, wide scanning range, With outstanding advantages such as adjustable imaging parameters, it is suitable for applications such as precise intraoperative navigation, adaptive radiation therapy, and early tumor screening and diagnosis.