The present invention is solid catalysis process of preparing biodiesel oil continuously with high acid value material, and belongs to the field of grease chemistry and regenerable energy source technology. The process includes following four steps: material pre-treating, reaction, methanol rectifying recovery and vacuum rectification of fatty acid methyl ester; and features the high acid value material, such as acidified oil, waste edible oil, etc. The present invention has the advantages of low material cost, high activity and easy separation of the solid catalyst, high esterification efficiency, high product purity, high yield, less waste, no pollution, etc.