The invention discloses a dynamic exposure time adjusting method for an APS (active pixel sensor) star sensor. The method comprises the following steps: (1), the size of a 4T image sensor area array is set, and the time Tus for reading one line is taken as the basic exposure unit; (2), an exposure time gear register is arranged in an FPGA (field programmable gate array), and N-gear exposure time is set; (3), according to a new exposure time gear written by a processor, a corresponding exposure adjusting formula is determined, exposure idle lines and read idle lines are obtained through calculation, read and exposure operation is controlled by switching on and off a pixel charge transfer switch in one-line time, the exposure operation is not performed when exposure is in an idle line, and the read operation is not performed when read is in an idle line; after exposure of the idle lines is finished, a rolling exposure pipeline at a new exposure time gear is entered, and setting of the new exposure time gear is finished. Seamless and dynamic adjustment of multiple-gear exposure time can be realized, the exposure pipeline is not interrupted during dynamic adjustment of the exposure time, and the data read time interval is reduced.