The invention discloses a banana picking device, which comprises a rack, a cutter, clamping manipulator sliding blocks and a clamping manipulator opening and closing driving mechanism. A clamping manipulator comprises clamping rods. One ends of the clamping rods are hinged on the rack. The sliding blocks are slideably connected onto the clamping rods. The clamping manipulator opening and closing mechanism drives the clamping manipulator to open or close. The clamping manipulator opening and closing driving mechanism is hinged with the sliding blocks. The invention additionally discloses a banana picking method, which comprises the steps of propelling a walking trolley to a position under a banana tree; horizontally supporting the walking trolley through hydraulic supporting legs; lifting a scissor-type lifting mechanism to a position beside a banana fruit string; stretching the clamping manipulator to clamp a fruit stem; cutting off the fruit stem by using the cutter; after the fruit stem is cut off, lowering the scissor-type lifting mechanism; and after the scissor-type lifting mechanism is lowered down, restoring the clamping manipulator, taking down bananas and restoring the hydraulic supporting legs to complete the picking. The banana picking device and the banana picking method have the advantages that the problem that the clamping manipulator is difficult to open is solved, the clamping force lasts long, the clamping stability and reliability are high, the clamping manipulator can be opened and closed smoothly and sensitively, and the working efficiency is improved.