The invention discloses a continuous production device of biodiesel, which comprises a biodiesel reaction device, a connecting pipeline, and a metering pump, a delivery pump and a flow meter, wherein the metering pump, the delivery pump and the flow meter are arranged in the pipeline; the biodiesel reaction device comprises a mixer 2, a heater I3, a pipeline reactor I4, an esterification reaction tower 5, a catalyst separator 10, a methanol storage tank 9, a pipeline reactor II24, a flash column 15, a glycerin separator 16, a distillation tower 17 and a biodiesel storage tank 19. A method for preparing the biodiesel by the continuous production device comprises the steps of: pretreating high acid value raw oil, carrying out first stage esterification reaction and second stage esterification reaction, separating by a catalyst, carrying out transesterification, and finally separating and distilling flash and glycerin which are obtained by heating oil after transesterification to obtain the biodiesel. The method disclosed by the invention is simple in production technology, wide in application scope of equipment for the raw oil quality, low in production energy consumption, higher in conversion rate and more environment-friendly, and more effectively improves the production quality and the yield of the biodiesel.