The invention discloses a tooth-cooperated shaft fixing device, which comprises an inner sleeve and an outer sleeve, wherein the external diameter of the inner sleeve is smaller than or equal to the internal diameter of the outer sleeve; the outer wall of the inner sleeve is at least provided with an axial groove; the inner wall of the outer sleeve is provided with a convex tooth matched with the groove in the outer wall of the inner sleeve; two ends of the outer wall of the outer sleeve are respectively provided with an annular key slot; annular fasteners are respectively arranged in two key slots. Compared with the prior art, the tooth-cooperated shaft fixing device disclosed by the invention has the beneficial effects that the inner sleeve is extruded by the convex tooth of the outer sleeve to cause the inner sleeve to be retracted, and a cylindrical shaft and a mechanical construction member fixedly arranged on the cylindrical shaft can be effectively prevented from generating relative circumferential movement. Meanwhile, the production cost is low, and the strength of the cylindrical shaft can not be lowered.