The invention provides a multidirectional fretting wear device and a testing method for a heat transmission pipe of a steam generator. The device is composed of a rack, a driving device, a leveling hoisting system and a data acquisition control system, wherein the structure of the test piece driving device is as follows: the upper end of a piezoelectric ceramic acting device is fixedly connected with a middle beam and the lower end of the piezoelectric ceramic acting device is connected with an upper clamp for clamping a block-shaped test piece sequentially via a flexible connector, a connection rod and a force sensor; a displacement sensor is mounted between the upper clamp and the middle beam; the structure of the leveling hoisting system of the heat transmission pipe is as follows: an angular displacement platform is fixedly arranged on a base and a hoisting platform is fixedly arranged on the angular displacement platform; a test piece supporting plate is mounted on the hoisting platform; two cylindrical test pieces which are the same in diameter are placed on the supporting plate and are close to each other; the outer sides of the cylindrical test pieces are close to clamping plates and the clamping plates are in threaded connection with lower pressing plates; the lower pressing plates are in tight fit with the cylindrical test pieces; the heat transmission pipe is placed in the two cylindrical test pieces. The device is simple in structure and easy to operate, can carry out a multidirectional fretting wear test on the heat transmission pipe, and can provide accurate, reliable and high-precision experimental data.