The invention relates to a 4-axis 3D-printing tubular medical stent as well as a preparation method and application thereof. The 4-axis 3D-printing tubular medical stent comprises a tubular stent witha multi-stage pore structure; and the surface of the stent is coated with nanofibers so as to form a double-layer tubular stent used for tubular tissue repair, extravascular stents, artificial tracheal stents and the like. The 4-axis 3D-printing tubular medical stent solves the problem of difficult direct construction of porous tubular stents by extrusion-type, especially fused-deposition-molding-type (FDM-type), 3D printing; and the prepared medical stent has the advantages of being possessed of a precise and controllable multi-stage pore structure, simple in application method, quick to useand suitable for multiple materials. And thus, the 4-axis 3D-printing tubular medical stent has good application prospects in the field of repair of tubular tissues and organs, including blood vessels, trachea, esophagus, urethra and the like.