The invention provides an NASICON structure sodium ion solid electrolyte. The NASICON structure sodium ion solid electrolyte has a general formula represented by formula (I); and in the formula (I), A<II> is a Zr position-doped substituted divalent metal element, A<III> is a Zr position-doped substituted trivalent metal element, A<IV> is a Zr position-doped substituted tetravalent metal element, A<V> is a Zr position-doped substituted pentavalent metal element, B<IV> is a P position-doped substituted tetravalent metal element, a, b, c, d, e and f are mole percentages of corresponding elementsrespectively, a is not less than 0 and not more than 1, b is not less than 0 and not more than 1, c is not less than 0 and not more than 1, d is not less than 0 and not more than 1, e is not less than0 and not more than 2.2, f is not less than 0 and not more than 1, and a, b, c, d and f are not zero simultaneously. The NASICON structure sodium ion solid electrolyte has a high room-temperature ionconductivity, and the solid state sodium ion battery prepared from the electrolyte has a good cycle stability.