The invention belongs to the field of optics, and relates to a measurement device and method for transmission wavefronts of a self-focusing lens. The measurement device for the transmission wavefronts of the self-focusing lens comprises a light source, a convergent mirror, a target plate, a collimating mirror, an aperture, a first microscope objective, a second microscope objective, a positioning reference structure, a Shack-Hartmann wavefront sensor and a control computer; the convergent mirror, the target plate, the collimating mirror, the aperture, the first microscope objective, the second microscope objective, the positioning reference structure and the Shack-Hartmann wavefront sensor are successively arranged on an emergent light path of the light source; the Shack-Hartmann wavefront sensor is connected with the control computer; the self-focusing lens to be detected is placed between the first microscope objective and the second microscope objective. The invention provides the measurement device and method for the transmission wavefronts of the self-focusing lens based on the Shack-Hartmann wavefront sensor, which is free from external environmental influences and capable of guaranteeing test precision.