The invention relates to a pipe-following drilling device which comprises a drill bit, a sleeve, a bearing base, a guide rail, a drilling driving mechanism, a horizontal driving mechanism, a high-pressure water pump and a negative pressure pump. The drill bit and the drilling driving mechanism are mutually connected through the sleeve; the drill bit and the sleeve are coaxially distributed, the drill bit is connected with the front end face of the sleeve, and the tail end of the sleeve and the drilling driving mechanism are mutually connected; and the drilling driving mechanism is mounted on the upper surface of the bearing base through the guide rail. The guide rail comprises a rail body and a bearing disc, the rail body is slidably connected with the upper surface of the bearing base, the bearing disc is slidably connected with the rail body and connected with the drilling driving mechanism, and the horizontal driving mechanism, the high-pressure water pump and the negative pressurepump are all mounted on the upper surface of the bearing base. According to the pipe-following drilling device, on the one hand, efficient structure flexibility is achieved, and the equipment structure can be flexibly adjusted according to the construction requirements; and on the other hand, the resource recovery use ratio can be greatly increased while the drilling operation efficiency is effectively improved, and the construction site environment is improved.