The invention belongs to the technical field of robot intelligent machining, and particularly discloses a complex curved surface robot efficient high-precision teaching method. The method comprises the following steps that S1, a to-be-taught robot is subjected to free traction so that kinesthetic teaching of a curved surface track can be completed, and kinesthetic teaching data are collected; S2,a virtual fixture is built according to the collected teaching data, assistance is provided for teaching of the next curved surface track through the built virtual fixture so that teaching of multiplecurved surface tracks can be completed, and the kinesthetic teaching data are obtained; S3, an incomplete curved surface manifold is built according to the existing kinesthetic teaching data, a virtual fixture is obtained, and teaching of the multiple curved surface tracks is completed with assistance of the virtual fixture; and S4, the error of the curved surface manifold is calculated, whetherthe error of the curved surface manifold is within the range of the threshold value is judged, if yes, the process is finished, and if no, the process goes back to the step S3. The method has the advantages of being good in practicality, easy to apply, high teaching efficiency and precision, and the like.