The invention discloses a three-axis stable follow-up tracking device of a shipborne satellite antenna. The three-axis stable follow-up tracking device of the shipborne satellite antenna comprises a parabolic antenna (1), a roll rotary shaft (2), a pitching rotary shaft (3), as azimuth rotary shaft (4), a support (5) and a base seat (6). Due to the adoption of a three-axis rotation device formed by the components and the technical scheme including that the azimuth rotary shaft is fixedly connected in the center of the bottom of the base seat in a vertically upward mode, the center of a cross beam of the support is rotationally connected at the upper end of the azimuth rotary shaft, the pitching rotary shaft is rotationally and horizontally arranged on the upper portions of two stand supports of the support, the roll rotary shaft is located above the center position of the pitching rotary shaft and in rotational orthogonality connection with the pitching rotary shaft, the parabolic antenna is fixedly connected on the roll rotary shaft, and a feedback system composed of a photoelectric sensor, a position potentiometer, an angular velocity sensor, an electronic compass, a rotary encoder and a global position system (GPS) receiver is adopted to replace a gyro system, the shipborne satellite antenna is enabled to achieve the purposes of being simplified in structure, lowered in cost, and easy to civilianize.