The invention belongs to the field of intravascular endoscope imaging and discloses an intravascular fluorescent-photoacoustic-ultrasonic multi-mode imaging device and method. The device comprises a computer, a fluorescence excitation and acquisition system, a photoacoustic signal excitation and acquisition system, an ultrasonic signal excitation and acquisition system and an integrated probe. The fluorescence excitation and acquisition system comprises a pulsed laser, a first optical filter, a collimator, a first optical fiber coupler, an optical fiber circulator, a photoelectric sliding ring, a second optical fiber coupler, a second optical filter, a photoelectric multiplier tube, a first signal amplifier and a first acquisition card. An intravascular endoscope imaging system in a fluorescent imaging mode, an intravascular endoscope imaging system in a photoacoustic imaging mode and an intravascular endoscope imaging system in an ultrasonic imaging mode are integrated, and due to combination of the advantages of the three imaging modes, structural information of multiple parameters of vessels and component information of corresponding substances can be obtained.