The invention provides a muon imaging method and a vehicle-mounted radioactive material monitoring system. The muon imaging method is characterized by comprising the following steps: S1, track reconstruction algorithm is used for carrying out reconstruction on muon angle measurement data, and an initial reconstruction image f0 is obtained; S2, the initial reconstruction image f0 serves as an initial value, algebraic reconstruction algorithm is used for iteration, and a reconstruction image fART is obtained; S3, several times of minimal total variation are carried out on the fART to obtain an image fART-TV; S4, the second step and the third step are repeated until a reconstruction image ft which can meet the preset quality can be obtained; and S5, the algebraic reconstruction algorithm is used for carrying out iteration on the ft and a final reconstruction image ffinal is obtained. Thus, radioactive monitoring can be carried out in real time, state changes of radioactive waste material in the transportation process can be particularly monitored, and thus hidden risks during the transportation process of the radioactive waste material can be reduced.