The invention discloses an underwater glider attitude adjustment mechanism for full-angle pitch angle adjustment, which includes a fixed seat, a support plate, a pitch limit plate, a swing rod, a swing rod fixing part, a lead screw fixing cover, a lead screw nut, and hexagonal fine teeth. Nut, trapezoidal screw, pitch motor, eccentric mass, self-lubricating bearing, supporting square tube, rolling motor, fixed slider, fixed plate, gear bearing end cover, cable sensor, angle sensor, swing rod self-aligning ball bearing, Self-aligning ball bearings, circular bushings, tension rods; the attitude adjustment mechanism is set inside the cabin of the underwater glider, and the front eccentric mass and the rear eccentric mass are driven by the pitch motor to move forward and backward along the axis or the front eccentric is driven by the roll motor The mass block and the rear eccentric mass block rotate circumferentially to change the position of the center of gravity of the underwater glider body, and cooperate with the buoyancy control system to return and discharge oil to realize the attitude adjustment of the underwater glider.