The present invention relates to a TDMA access method and device based on multiple access points. According to the problems that the existing method cannot simultaneously satisfy the demands of timeliness and reliability in actual industrial application and has low resource utilization rate, the present invention takes full consideration of the transmission characteristics and industrial automation application characteristics of wireless networks, and provides a TDMA access method and device based on multiple access points. The main ideas of the method in the present invention are: the multi-access point redundant communication manner is adopted to improve system reliability, beacon frames of multiple access points are utilized to perform time synchronization so as to improve synchronization precision, confirmation messages are fed back with regard to reliable access points to reduce the number of retransmissions, and a modularized multi-access point device design method is adopted to lower the difficulties of device maintenance and management.