The invention discloses an onboard three-factor static penetrometer for a centrifuge. Slides and a horizontal transmission screw are arranged on the base in the length direction, the horizontal transmission screw is connected with a horizontal displacement motor, a centrifuge body platform is disposed on the slides and the horizontal transmission screw, a horizontal displacement distance measurer and a vertical displacement distance measurer are mounted on the centrifuge body platform, vertical posts and a vertical displacement transmission screw are arranged on the centrifuge body platform, an ejector plate is mounted at the upper ends of the vertical posts, two vertical posts and a beam form a screw pair and are mounted on the centrifuge body platform, a probe bar clamping plate is mounted between each two vertical posts on opposite corners, one end of a probe bar is mounted on the beam and connected with a probe, a motor and a transmission shaft for vertical displacement are mounted on the ejector plate, a pulley on one side of the motor is connected with a pulley fixed on the transmission shaft through a transmission belt, and two ends of the transmission shaft are connected with two vertical displacement transmission screws through a worm gear pair. The onboard three-factor static penetrometer is used for measuring tip resistance, side wall friction and pore water pressure of model soil for the centrifuge.