The invention provides a telescopic crossed yoke fluorescent magnetic powder inspection machine. A crossed yoke comprises a fixed yoke parallel to the surface of a workpiece to be tested and a moving yoke perpendicular to the surface of the workpiece to be tested, the moving yoke passes through a sliding bushing and is in sliding connection with the fixed yoke, and the moving yoke is provided with a pressure spring. The invention successfully realizes that each magnetic pole of the magnetic powder inspection machine has telescopic function so as to closely contact the workpiece by dividing the crossed yoke into the fixed yoke and the moving yoke, thereby guaranteeing the magnetic-field intensity during the fault detection. The magnetic powder inspection machine is also provided with a CCDimage acquisition device, and realizes the program control of working procedures of feeding, magnetization, CCD observation and discharge as well as on-line detection monitoring and automatic fault detection through the program control operation of a PLC.