The invention relates to a cabazitaxel crystal which is solvent-free and non-crystallization water crystal form of 7, 10-dimethoxy docetaxel or (2R, 3S)-3-tert-butoxycarbonyl amino-2-hydroxyl-3- phenylpropionic acid 4-acetoxyl-2 alpha-benzoyloxy-5 beta, 20-epoxy-1-hydroxyl-7 beta, 10 beta- dimethoxy-9-oxo-11-taxadiene-13 alpha-ester; and the cabazitaxel crystal is shown to be positioned at 4.3, 7.1, 8.7, 10.2, 10.9, 12.2, 13.8, 15.2, 16.4, 17.0, 17.6, 18.3, 19.2, 19.6, 20.3, 21.2, 23.1, 24.7, 26.1, 27.3, 29.3, 31.9, 32.5 and 35.8 degrees 2 theta characteristic peak by powder X ray diffraction (PXRD). The invention also discloses a preparation method of the cabazitaxel crystal. The cabazitaxel crystal is prepared under the condition of reduced pressure at the room temperature, and is high in yield and good in purity.