The invention discloses a telescopic type folding bridge opening and closing device and belongs to the technical field of engineering machinery. The device comprises a winch, a slab bridge drive machine, a slab bridge and a lifting device, wherein the winch and the slab bridge drive machine are mounted on a bridge body, and the slab bridge is mounted on the slab bridge drive machine. The slab bridge drive machine operates to allow a drive bull gear I and a drive bull gear II to rotate oppositely so as to drive the rack slab bridge to translate, and when the rack slab bridge moves to a fixed position, the slab bridge drive machine and the rack slab bridge stop moving; a motor I drives a winding drum to rotate through a reducer and drives a lifting rack box, a lifting rack and a bridge deck to translate through steel wire ropes, and when the bridge deck reaches a fixed position, the motor I stops rotating; a gear motor in the lifting rack box rotates to drive the lifting rack to drive the bridge deck to move up and down. The telescopic type folding bridge opening and closing device has the advantages that telescopic opening and closing of a bridge can be achieved, water surface channel clearance area is elevated, and the device is simple in structure, convenient to maintain, good in seismic performance, low in energy consumption, and highly applicable to river channels with high channel clearance area requirements and frequently passed by high and large ships.