The invention belongs to the technical field of pipe bending equipment, and particularly discloses a pipe bending device. The pipe bending device comprises a base, a first clamping plate, a second clamping plate, a stand column, a first supporting rod and a second supporting rod are arranged on the base, a transverse beam is arranged on the stand column and is provided with an air cylinder, a first inclined rod and a second inclined rod, a transverse plate and a transverse rod are arranged on a piston rod, a first pressing rod is arranged on the transverse plate, the two ends of the transverserod are provided with a first sliding block and a second sliding block which are in sliding connection with the transverse rod, and the first sliding block and the second sliding block are in slidingconnection with the first inclined rod and the second inclined rod correspondingly; and a first connecting rod and a second connecting rod are hinged to the first sliding block and the second slidingblock correspondingly, the end, far away from the first sliding block, of the first connecting rod is hinged to the first clamping plate, and the end, far away from the second sliding block, of the second connecting rod is hinged to the second clamping plate. The pipe bending device is mainly used for bending a steel pipe, and the problem that pipe clamping is not good in the pipe bending processis solved.