The invention discloses a soil penetration resistance measuring device. The soil penetration resistance measuring device comprises a basic framework, a lifting machine assembly, a lead screw pair, an execution assembly, a displacement coder, a force sensor, a cone head and a PC data collector; the lead screw pair is installed on the basic framework, a lifting machine is installed in the middle of the lead screw pair, and the execution assembly is installed at the lower end of the lifting machine; by clockwise rotating a master handwheel, the lifting machine is rapidly driven to move downwards, the cone head is driven to make contact with the surface of soil to be measured, at the moment, rotating of the master handwheel is stopped, an auxiliary handwheel is clockwise shaken at a constant speed to enable the lifting machine to move downwards continuously, the cone head enters the soil slowly, and the coder and the force sensor measure and record the downward moving displacement and the penetration resistance and transmit the downward moving displacement and the penetration resistance to the PC data collector; when the cone head reaches the measuring depth, the master handwheel is anticlockwise rotated to enable the cone head to be rapidly away from the soil to be measured, and one time of soil hardness measurement is completed. The soil penetration resistance measuring device is convenient to operate, strong in stability and efficient in the working process and has good adaptive capacity on different soil layers.