The invention provides a retracting and releasing device for an underwater acoustic positioning system. The retracting and releasing device comprises a winch, an acoustic probe guide cylinder, an acoustic probe lifting rod and an acoustic probe, the acoustic probe is arranged at the bottom end of the acoustic probe lifting rod, the top end of the acoustic probe lifting rod is connected with the winch, the acoustic probe guide cylinder is fixed in a ship body, and the bottom of the acoustic probe guide cylinder is connected with a bottom plate of the ship body and communicated with the outside of the ship body. The acoustic probe lifting rod axially moves in the acoustic probe guide cylinder, and the acoustic probe can extend out of the ship body. According to the retracting and releasing device of the underwater acoustic positioning system, the acoustic probe lifting rod is retracted and released through the winch, the acoustic probe lifting rod ascends and descends along the acoustic probe guide cylinder, retracting and releasing are flexible, meanwhile, the movement track is stable, shaking and collision are avoided, and the damage risk is avoided; and meanwhile, the structure is simple, the failure rate is low, maintenance is convenient, the manufacturing cost is low, and economical efficiency is good.