The invention discloses a large-amplitude translation/rotation-coupled vibration experiment device loaded under the control of force and torque. The device comprises a portal frame, vibration structure plates, loading springs, a three-way acceleration sensor and a displacement sensor, wherein the portal frame includes two supporting columns, a top cross beam, a bottom cross beam and a bearing platform used for fixing a damper and disposed between the top cross beam and the bottom cross beam, the vibration structure plates include an upper-part vibration structure plate and a lower-part vibration structure plate, the loading springs include a horizontal loading spring and a vertical loading spring, the three-way acceleration sensor is arranged on the upper-part vibration structure plate, and the displacement sensor is arranged between the upper-part vibration structure plate and the top cross beam. The experiment device of the invention is strong in applicability and simple in operation; and the device is applicable to experimental simulation of various ocean engineering structures, ships and submarines, high-speed trains, super-large-span building structures, military and civil aircrafts, spacecrafts and the like.