The invention provides a pull-type self-adaption posture-controlled underwater navigation device, belonging to the technical field of power-free underwater self-adaption posture-controlled pulling system. The underwater navigation device comprises floating bodies, a main wing, a horizontal balancing wing and vertical balancing wings, wherein the main wing with two ends extending outwards are arranged at the lower parts of the front ends of the two parallel floating bodies; the horizontal balancing wing is arranged on the inner sides of the back ends of the two floating bodies, and the vertical balancing wings are respectively arranged on the outer sides of the back ends of the two floating bodies; and constant tension winches are respectively arranged at the extended parts of the both ends of the main wing, and are connected with a ship deck by virtue of a pulling cable. When a ship is docked or sails at a low speed, the pull-type self-adaption posture-controlled underwater navigation device floats on a water surface, and the vertical balancing wings are in a horizontal state under an effect of gravity. When the ship sails, the main wing generates downward lift force, and the entire device sinks to a certain depth; the sinking depth of the device can be set by adjusting the length of the pulling cable; and the vertical balancing wings can go up automatically to be in a vertical state under an effect of water power, so that the balance posture of the device inside a vertical plane can be kept.