The invention relates to the technical field of automatic driving of intelligent vehicles, and discloses an intelligent connected vehicle environment simulation system based on complete vehicle hardware-in-loop. The system comprises a hub dynamometer, a control system of the hub dynamometer, a steering and transverse movement platform, a moving target, an environment simulation system, a positioning simulation system, a V2X simulation system, a central control system, a vehicle dynamics model, a vehicle steering and transverse movement platform control unit and a data acquisition module. According to the intelligent connected vehicle environment simulation system based on complete vehicle hardware-in-loop, the whole vehicle comprising a sensor can be taken as a tested object; a test systemintegrates physical weather and traffic simulation devices, so that the test precision and credibility of the system are greatly improved, meanwhile, the test efficiency can be improved; and the system is an effective test tool for accelerating realization of intelligent connected vehicle products.