The invention relates to an axle steel continuous casting method. The method comprises the following steps of: pouring molten steel to a crystallizer from a pouring box to form an axle steel casting blank which is not fully solidified; and then withdrawing the axle steel casting blank which is not fully solidified from the crystallizer at a withdrawing speed v and sequentially going through a secondary cooling zone and an air cooling zone to obtain a fully solidified axle steel casting blank. The method also comprises a soft press process for utilizing at least one of the plurality of soft press stands sequentially arranged on the air cooling zone to perform soft reduction on the axle steel casting blank which is not fully solidified, and the central solid fraction fs of the axle steel casting blank which is not fully solidified in the soft press process is kept at 0.2 to 0.95. Soft press is carried out on the axle steel casting blank which is not fully solidified with the central solid fraction of 0.2 to 0.95, internal gaps formed by casting blank shrinkage can be eliminated or reduced to prevent the intergranular solute-enriched molten steel from laterally flowing to a casting blank center, and the intergranular solute- enriched molten steel of a liquid phase center is induced to flow along the opposite direction of the blanking withdrawing direction, solute elements are redistributed in the molten steel, and the center segregation is improved.