The invention discloses a passive noise shaping successive approximation SAR analog-to-digital converter. The analog-to-digital converter comprises three capacitive digital-to-analog converters (CDACs), a passive loop filter, a comparator and an SAR logic circuit, wherein the three identical CDACs comprise a CDAC1 required by normal SAR conversion and two auxiliary CDAC2 and CDAC3 used for generating a margin voltage of a previous period. Two interlaced CDAC2 and CDAC3 are added, and KT/C noise and gain loss introduced by passive margin sampling are removed. Wherein the CDAC1 generates the margin voltage Vres (n) of the current period, and the CDAC2 and the CDAC3 alternately generate the margin voltage Vres (n-1) of the previous period. And the passive loop filter carries out noise shapingon the margin voltage and suppresses in-band noise of the signal. And the comparator quantizes the analog output of the passive loop filter into a digital code, the digital code toggles the next capacitor switch in the CDAC through the SAR logic circuit until the conversion is finished, and all the digital codes are sequentially spliced together to serve as the output code of the SAR ADC, which is the same as that of the common SAR ADC. According to the invention, the second-order noise shaping effect can be realized, the signal in-band quantization noise and the comparator noise are effectively suppressed, and the signal-to-noise ratio and the spurious-free dynamic range of the SAR ADC are obviously improved.