The invention discloses a method and a device for manufacturing a curved micro-lens array. The method comprises the following steps: fixing a curved substrate to a rotary table capable of rotating in a three-dimensional space in a multi-axis way; adjusting a relative position between the curved substrate and a nozzle of an injection device, and aligning the nozzle with the outer surface of the top of the curved substrate in a normal direction; starting the injection device, forming micro droplets at the top of the outer surface of the curved substrate, and curing the micro droplets as a micro-lens by utilizing a photo-curing device; then rotating the rotary table, rotating a subsequent injection station of the curved substrate to the top, and reforming the micro-lens through micro-droplet injection and photo-curing; finally, performing cyclic operation according to a predetermined injection path, and forming a micro-lens array, namely the curved micro-lens array, arrayed on the outer surface of the whole curved substrate according to a certain rule. By combination of a micro-droplet injection and photo-curing technology and the multi-axis rotation rotary table, the curved micro-lens array is manufactured, so that the operation is simple, the period is short, the precision is high, and the manufacturing cost is low.