The invention discloses an embroidery convenient accurate positioning needle inserting device which comprises an upper splint and a lower splint, wherein the upper splint and the lower splint are crossed in an X shape, and the crossed parts of the upper splint and the lower splint are connected and fixed by a torsion spring; four telescopic cavities are spaced in the upper body of the lower splint; two telescopic cavities on the inner side of the lower splint are symmetrically arranged, and two telescopic cavities on the outer side of the lower splint are symmetrically arranged; the telescopic cavities on the inner side of the lower splint are higher than the telescopic cavities on the outer side of the lower splint; a first telescopic rod is arranged in the telescopic cavities on the inner side of the lower splint; and a second telescopic rod is arranged in the telescopic cavities on the outer side of the lower splint. The device disclosed by the invention can be applied to machine embroidery as well as manual embroidery, is convenient to disassemble and can be adjusted according to different side thicknesses; and moreover, the structure is simple, the cost is low, and the embroidery accuracy is improved.