The invention provides a preparation method of a silicoaluminophosphate molecular sieve with a hierarchical pore structure. The method comprises the steps: firstly, by adopting tetraethyl orthosilicate or silica sol as a silicon source, pseudo-boehmite or aluminum isopropoxide as an aluminum source, orthophosphoric acid as a phosphorus source, and triethylamine, tetraethylammonium bromide or tetraethylammonium hydroxide as a template agent, uniformly stirring the silicon source, the aluminum source, the phosphorus source, the template agent and deionized water, performing hydrothermal crystallization treatment, and then centrifuging to obtain supernatant liquor; secondly, uniformly stirring the silicon source, the aluminum source, the phosphorus source, the template agent and the supernatant liquor, performing hydrothermal crystallization treatment, and filtering to obtain a filter cake and filtrate; thirdly, sequentially washing, drying and roasting the filter cake, and naturally cooling to obtain the silicoaluminophosphate molecular sieve with the hierarchical pore structure. The prepared silicoaluminophosphate molecular sieve provided by the invention has an obvious hierarchical pore structure, greatly shortens the diffusion path, improves the acid site accessibility, significantly prolongs the service life, and has very important practical values in reaction of preparing olefin from methanol.