The utility model relates to the field of fruit picking machinery, in particular to a litchi picking device which comprises a shearing device and a telescopic device, the shearing device is connectedwith the telescopic device through a connecting plate, the shearing device comprises a leading-in block, a circular cutting blade and a motor, and the leading-in block is formed by splicing two squareblocks and is in central symmetry; the front ends of the two square blocks are arc-shaped; the circular cutting blade is fixed above the collecting block, and an output shaft of the motor is rotatably connected with the circular cutting blade; the telescopic device comprises a telescopic rod and a threaded locking body, the telescopic rod comprises two hollow rods with different diameters, and the two hollow rods are connected through the threaded locking body; through the two arc-shaped faces with the same bending direction at the front ends of the two square blocks, branches of litchis canbe led into openings of the square blocks, and the grabbing rate of the litchis can be increased; the motor drives the circular cutting blade to rotate to cut off litchi stems, and litchi picking is completed.