The invention provides a ball-link steel structure grid frame reverse modeling method, which comprises the following steps: carrying out three-dimensional laser scanning to obtain ball-link steel structure grid frame data; extracting point cloud data of each cylindrical component and each spherical component; carrying out cylindrical surface fitting and sphere surface fitting on the point cloud data of each cylindrical component and the point cloud data of each spherical component respectively; according to a permissible error value, determining connection relation between each cylindrical component and each spherical component; constructing a spatial topological relation between tubular components; correcting a center line space equation of a cylindrical component connected with the cylindrical component and three-dimensional coordinates of front and back two end points of a center line; and carrying out reverse three-dimensional reconstruction according to the spatial topological relation and parameter information of each cylindrical component and each spherical component. The method can solve the problems that in large-scale ball-link steel structure grid frame reverse modeling in the prior art, measurement precision is poor, reverse modeling cannot be carried out due to external factors, and safety hidden dangers of personnel exist and measurement is not repeatable and the like.