The invention discloses a rock-soil pressure sensor embedding device and an embedding method thereof. The rock-soil pressure sensor embedding device comprises a cylindrical thin-wall vessel, a base, an upper sealing strip, a lower sealing strip, a lining, an outer lining, a band and a pressure sensor. The embedding method includes: arranging the soil pressure sensor embedding device, digging an embedding hole, levelling the basal plane of the sensor, inverting the pressure sensor embedding device, backfilling the original soil material, extracting the cylindrical thin-wall vessel, and backfilling and so on. By means of the rock-soil pressure sensor embedding device and the embedding method thereof, the digged pit slot is small, the size of a protecting layer needed for the sensor is small, the embedding efficiency is improved, the measuring precision is improved, the protecting layer is avoided from loosening in vibration rolling, and the problem of embedding the sensor in coarse granular materials is solved.