The invention discloses a deep hole machining manipulator, which comprises an arm assembly, a working device and a control system, wherein the arm assembly can be used for at least providing axial feed and peripheral feed; the working device is fixed at the output end of the arm assembly, and is used for machining or detecting; the control system is used for controlling the feeding direction of the arm assembly and the working state of the working device; and the arm assembly comprises a fixed arm, a telescopic arm which is axially connected to the fixed arm at a single degree of freedom in a sliding way, and a rotating arm which is circumferentially connected to the telescopic arm at a single degree of freedom. Due to the adoption of the deep hole machining manipulator disclosed by the invention, deep hole machining and detecting can be performed by breaking through the limit of a deep hole aperture, the length-diameter ratio of a tool can be reduced greatly, the tool has high strength and high rigidity, the deep hole machining accuracy and surface quality can be ensured, the machining requirements of special structures such as inner splines machined in deep holes, in-hole curve structures, inner spiral grooves, and curved teeth are met, and integral machining and forming of deep hole parts having the special structures are realized.