Disclosed are a tool head and a method for pipe end numerical control incremental turn-up forming. A rod-shaped cylinder is arranged at the upper end of the tool head, a circular disc is arranged at the lower end of the tool head, an inverted big-end-up circular truncated cone is arranged at the bottom surface of the circular disc, chamfers are designed between side surfaces and bottom surface of the circular truncated cone, and the side surfaces of the circular truncated cone and the bottom surface of the circular disc are in smooth transition through inwards concave circular arcs. A turn-up process includes the following steps that (1) the lower end of a pipe blank is fastened on a working table top of an incremental forming device; (2) the bottom surface of the circular truncated cone of the lower end of the tool head is located on the inner (outer) side of the upper end of an opening of the pipe blank, and the side surfaces of the circular truncated cone are in contact with inner (outer) sides of pipe walls; (3) a numerical control program is used for controlling the tool head so that the tool head can perform circumference movement around an axis of the pipe blank, meanwhile, the tool head gradually downwards moves to extrude the pipe walls, outwards (inwards) gradual turn-up forming of the pipe walls can be achieved, and outwards (inwards) turning up of whole pipe walls can be finished by means of the continuous movement of the tool head. By means of the tool head and the method for pipe end numerical control incremental turn-up forming, flexible turn-up forming of the pipe end of the pipe blank can be achieved, and axial compression instability of the pipe blank can be avoided.