The invention belongs to the technical field of tunnel detection of railway engineering systems and particularly relates to a method and a rail vehicle for full-section comprehensive detection of railway tunnels. The rail vehicle comprises a rail vehicle floor board, a cab and a carriage. Line-scan cameras are arranged on an arch frame which is arranged on the rail vehicle floor board, air-coupled shield antennas, and a GPS (global positioning system) mainframe, ground penetrating radar and infrared thermal imagers are arranged on the rail vehicle floor board. A GPS receiver is arranged at the top end of the cab, a laser scanner is arranged at the tail of the top plate of the carriage, and an industrial personal computer is arranged in the carriage. By multiple detection systems, one-time full-section detection of tunnel lining states and tunnel bottom damages can be realized, high detection accuracy, high efficiency, shortening of maintenance time and saving of maintenance cost are realized, influences on normal transportation of the railway tunnels are low, and loss caused by stopping of transportation is reduced.