The invention provides a coprecipitation preparation method of rare earth-doped yttrium aluminium garnet fluorescent powder. The chemical formula of the fluorescent powder is LnaMbO12:Rx,R'y, wherein Ln is at least one of Sc, Y, Pr, Nd, Gd, Dy and Sm; a is more than or equal to 2.8 and less than or equal to 3.2; M is at least one of Al and Ga, and b is more than or equal to 4.9 and less than or equal to 5.1; R is at least one of Ce and Tb, and x is more than or equal to 0.01 and less than or equal to 0.2; and R' is at least one of Pr and Dy, and y is more than or equal to 0 and less than or equal to 0.1. The coprecipitation preparation method comprises the following steps: preparing a metal ion mixed liquid and preparing nano doped cerium yttrium aluminium garnet crystal seeds; adding the crystal seeds and a dispersing agent to a precipitator, thus obtaining a mixed solution; dropwise adding the metal ion mixed liquid into the mixed solution so as to obtain an intermediate product, and carrying out water washing, alcohol leaching and drying on the intermediate product; adding a fluxing agent in the intermediate product, and then roasting under the reducing atmosphere; and carrying out gas stream smashing, impurity removal, drying and grading on a product of roasting, thus obtaining the rare earth-doped yttrium aluminium garnet fluorescent powder. The shape of the product is regular, the particle diameter (d50) of the product is 1-10 mu, and the product has the advantages of stable property and good luminescence performance, and can be effectively excitated by blue light.