The invention discloses an apple picking device and a picking method thereof. The picking of domestic fruits is basically done by hand, with low efficiency and high labor intensity. The apple pickingdevice provided by the invention comprises a cart, a net bag, a base, a support plate, a lifting mechanism, a rotating mechanism, a horizontally moving mechanism and a picking mechanism. The rotatingmechanism comprises a rotating support frame, cloud deck brackets and a first steering gear. The horizontally moving mechanism comprises a sliding rail, a second sliding block, a middle bracket, a motor bracket, and a horizontally moving driving member. The picking mechanism comprises a camera mounting frame, a camera, a fruit picking mechanical arm and a pruning mechanical claw. The pruning mechanical claw comprises a caw frame, a claw body, blades, auxiliary plates, and a claw body driving member. Through the auxiliary plates, branches can be effectively prevented from being stuck at tips ofthe claw, thereby improving the success rate of picking. The apple picking device can adapt to fruit trees of different heights.