The invention discloses semi-aromatic polyamide and a preparation method thereof. The preparation method comprises the following steps that (a), dicarboxylic acid and diamine are subjected to a neutralization reaction with water as the solvent, and a semi-aromatic polyamide salt solution is formed; (b), the semi-aromatic polyamide salt solution obtained in the step (a) is further subjected to warming, polycondensation of the solution is promoted by continuous drainage, and after prepolymerization of the solution, semi-aromatic polyamide prepolymer is obtained; (c), the semi-aromatic polyamide prepolymer obtained in the step (b) is subjected to a viscosity-enhancing reaction, and the semi-aromatic polyamide is obtained. According to the preparation method, the aggregate-level dicarboxylic acid and diamine are adopted, so that the operational process is simplified; a diamine online separation recovery device is used for conducting separation and recycling on the diamine in a prepolymerization process, so that the volatilization loss of the diamine along with water vapor is effectively reduced, and pollution generation is avoided; the molar ratio of the diamine to the dicarboxylic acid in the prepolymerization process is kept, so that the yield coefficient is increased, and the product with stable quality is obtained.