The invention provides a full-digital receiving method of a direct spread MSK signal. The full-digital receiving method comprises constructing the direct spread MSK signal into an approximate direct spread BPSK signal, acquiring the constructed approximate direct spread BPSK signal by use of a two-dimensional combined acquisition algorithm of pseudo-code phases and carrier Doppler frequency shift based on Doppler effect correction-FFT, tracking the acquired pseudo-code phases and carrier phases, and performing processing, such as de-spreading, demodulation and detection, on a synthesized signal to recover transmitted data.