The invention relates to a method for extracting lithium from lepidolite, which comprises the steps of removing fluorine, pressing and soaking, separating, removing impurity, separating out natrium, analyzing kalium, separating, depositing lithium, separating, and separating crude wet lithium carbonate and lithium depositing mother liquid after depositing lithium. The invention is characterized in that the concentration of Rb+ contained by the lithium depositing mother liquid is detected, the circulation trend of the lithium depositing mother liquid is decided by the consistency, when the consistency is low, the product quality is not influenced, the lithium depositing mother liquid which is acidulated returns to the step of removing impurity before analyzing natrium, and when the concentration of the Rb+ is high and influences the product quality, the lithium depositing mother liquid is separated in an Rb and Cs product manufacturing procedure. The invention can avoid increasing the load of a pressing and soaking kettle when the lithium depositing mother liquid returns to the pressing and soaking step, and the content of natrium and kalium in the lithium depositing mother liquid which is finally educed is reduced to enable the subsequent separation of Rb and Cs to be easier, thereby the cost of whole technique comprising the processing cost of lithium carbonate, rubidium and cesium is greatly reduced.