The invention discloses a full numerical control camshaft milling machine, which comprises a bed (9), a guide rail plate (10), a guide rail (19), a rotating power head (6), a milling power head (3) and a lifting power head (16), Rotary power heads are respectively arranged at both ends of the guide rail plate, hydraulic chucks (11) are arranged on the rotating power heads, and auxiliary supports (8) are arranged between the hydraulic chucks, and the milling power heads are arranged on the lifting platform, and the lifting platform (20) can move on the column (14). The milling power head includes the milling cutter spindle (23). The column can move left and right on the guide rail (19). An inertial balance wheel (27) or a milling cutter spindle is arranged on the milling cutter spindle. The main shaft is connected with the inertia balance wheel through the driven wheel (24) on the milling cutter main shaft. The milling cutter spindle of the present invention does not generate vibration, which not only reduces the processing noise, prolongs the service life of the milling cutter, but also improves the milling quality, reduces the reserved grinding amount, reduces the grinding workload, improves the processing efficiency, and reduces the Camshaft machining cost.