The invention discloses an under-actuated fruit-vegetable picking end executor device and a picking method. The device is composed of a palm, a base, fingers, a support rod, a bottom plate, a first stepping motor, a shaft coupler, a lead screw nut, a lifting platform, a drive rod, a side mounting plate, a second stepping motor, a synchronous belt device and a cutting tool; 2-4 finger bases are fixedly arranged on the palm, and the fingers are hinged with the bases; the lower side of the palm and the support rod are in fixed connection, the other end of the support rod is fixedly connected with the bottom plate; the first stepping motor is fixedly arranged on the bottom plate, the motor is connected with the lead screw nut through the shaft coupler; the nut is fixedly connected with the lifting platform; the lifting platform is hinged with one end of the drive rod, and the other end is hinged with the fingers; the palm side is vertically connected with one end of the side mounting plate, and the other end is vertically connected with the side of the bottom plate; the synchronous belt device is fixedly arranged on the side mounting plate, a drive wheel thereof is connected with the second stepping motor, and a driven wheel is hinged with the cutting tool. The invention further discloses a picking method. The device disclosed by the invention has the features of being simple in structure, convenient for control, capable of capturing the fruit through multiple postures and rapidly cutting the fruit stem.