The invention discloses a picking-up device for a peanut picking-up and fruit picking machine. The picking-up device comprises a spindle arranged on a peanut picking-up and fruit picking machine frame in a rotation mode, a guiding slide is fixedly arranged on the peanut picking-up and fruit picking machine frame at one end of the spindle, a roller disc is fixedly arranged at two ends of the spindle respectively, at least three elastic claw rods are welded between the two roller discs, two welding ends of the elastic claw rods are arranged on the roller discs in a rotation mode respectively, and elastic claws distributed circumferentially are arranged on the welded three elastic claw rods. An elastic claw track control device is arranged between the welded elastic claw rods and the guiding slide. During work, the spindle rotates to drive the roller discs and the welded elastic claw rods to rotate, the elastic claws rotate to pick up peanut seedling fruit on the ground and convey the peanut seedling fruit to a fruit picking device on the rear side. Due to the fact that the elastic claws are elastic, impact of the elastic claws on the peanut seedling fruit is small, and peanut fruit dropping loss is small. The picking-up device is simple and compact in structure, good in dynamic property and economic performance and high in reliability.