The invention discloses a glass roof cleaning device. The glass roof cleaning device comprises double-caterpillar-track walking mechanisms, supporting frames, cleaning arms, H-shaped connecting block assemblies and rotary cleaning brushes. The glass roof cleaning device is characterized in that each cleaning arm A and each cleaning arm B are connected through the corresponding H-shaped connecting block assembly and both formed by connecting a rapid connector auxiliary body of a T-shaped pipe rapid connection assembly and a rapid connector primary body of another T-shaped pipe rapid connection assembly, the lengths of each cleaning arm A and each cleaning arm B can be adjusted, and the lengths are adjusted by changing the number of the connected T-shaped pipe rapid connection assemblies; the two ends of each cleaning arm A are fixedly provided with the corresponding double-caterpillar-track walking mechanisms respectively, the two ends of each cleaning arm B are fixedly provided with the corresponding double-caterpillar-track walking mechanisms respectively, the cleaning arms are connected with the double-caterpillar-track walking mechanisms through the supporting frames, and therefore each cleaning arm A and each cleaning arm B are both provided with two double-caterpillar-track walking mechanisms provided with driving devices. The glass roof cleaning device can be rapidly assembled and disassembled on site and are convenient to transport and install, light and safe, the cleaning brushes have multiple freedom degrees, copying cleaning is achieved, and the cleaning effect is good.