The invention relates to a preparation method of soybean milk. The preparation method at least comprises the following stages: (a), flour preparation stage: providing a crushing container, a heating element for heating the crushing container and a crushing device, directly heating the crushing container through the heating element, so as to ensure that the temperature of the crushing container is increased to 70-90 DEG C, adding dried beans into the crushing container, crushing the dried beans into bean flour through the crushing device, and ensuring that lipase and beany flavor of the bean flour are removed in the crushing container at ambient temperature; (b), preparation and boiling stage: adding water to the bean flour, so as to prepare the bean flour into pulp, and heating and boiling the pulp till the pulp is well cooked. By adopting the air temperature inside the crushing device, crushing, lipase removal and beany flavor removal are performed at the same time, protein can keep invariant, beany flavor can be effectively removed, and crushing the beans into bean flour firstly can greatly enhance the crushing fineness, so that the soybean milk concentration can be effectively enhanced. In addition, water vapor can be evaporated during crushing of the beans in the high-temperature environment, the bean flour is not easy to agglomerate, and the crushing effect is good.