The invention provides an acid pickling device for the inner and outer surfaces of a pipes. The acid pickling device comprises an acid groove which contains an acid pickling solution, a pipe tool device, a tool clamping mechanism, a traversing device, an acid conveying pipeline and a rack, wherein a plurality of slots are formed in the pipe tool device; the two ends of the pipes are inserted into the slots respectively; the rack is arranged above the acid groove; the traversing device is arranged on the rack and can also horizontally move on the rack; the upper end of the tool clamping mechanism is arranged on the traversing device; the lower end of the tool clamping mechanism is connected with the pipe tool device; one end of the acid conveying pipeline is connected with the pipe tool device; the other end of the acid conveying pipeline is connected with an acid pump to supply the acid pickling solution to the inner walls of the pipes; and the pipes are soaked in the acid pickling solution in the acid groove during acid pickling. According to the acid pickling device, once acid pickling of a plurality of pipes can be realized, the production efficiency, the acid pickling quality and the acid pickling uniformity are improved, and meanwhile, the opportunity that personnel approaches acid liquor is reduced.