The invention discloses a continuous pipeline tripping device, comprising a rotating drum retracting, laying and releasing system, a guided injection system, a traction system, and a hydraulic power system used for supplying power for the above systems. The rotating drum retracting, laying and releasing system comprises a rotating drum, a cable laying device and a guide rail, wherein the guide rail is fixed on an underpan of a vehicle system, the rotating drum is in a sliding connection with the guide rail through a rotating drum supporting seat, the cable laying device is fixed on one side of the rotating drum, the rotating drum is driven to move along the guide rail by the cable laying device, thereby realizing the arrangement of an oil pipeline on the rotating drum. The traction system comprises a double-arm crane and a flat track frictional transmission device. When the rotating drum rotates, the oil pipeline on the rotating drum passes through the flat track frictional transmission device and a guided injection head in sequence to enter into an oil well. According to the invention, a fast connection with the mouth of the well is guaranteed, the operational process of site construction is simplified, the damage of pipelines is prevented, and the success rate of construction is increased.