The invention discloses a multi-beam underwater steel pipe pile position measuring method. The method adopts a multi-beam depth finder, a compass movement sensor and a GPS for underwater steel pipe pile position measuring, through three steps of measuring line arranging, equipment mounting and parameter measuring, a pile body inclination parameter, top center plane and elevation coordinates and aplane distance between a four-pile guide pipe frame meeting the precision need are obtained, and steel pipe pile position measuring is achieved. According to the method, the underground measuring inspecting efficiency is improved, the influence of water depth, waves, flow speed, visibility and other factors on underground measuring inspection can be greatly reduced, meanwhile, the underground inspecting efficiency is improved, the measuring inspecting process is simplified, it is ensured that the measuring precision meets the needs, and the construction measuring cost is reduced.