The invention discloses an inner-hole grinding and polishing device which comprises a workpieces. One end of the workpiece is placed into a three-jaw chuck, a grinding pen is disposed in a fixing barrel, a grinding head is arranged at one end of the grinding pen and extends into the inner hole in the workpiece, the other end of the grinding pen is connected with a rotary motor, the rotary motor drives the grinding pen to rotate along the X-axis, the three-jaw chuck is connected with a first motor, the first motor controls and drives the workpiece to rotate along the X-axis through the three-jaw chuck so as to allow the workpiece and the grinding pen to rotate oppositely, a swinging fixing sleeve sleeves the grinding pen, the right side of the grinding pen and the right side of the swinging fixing sleeve are connected with a positioning plate through a fixing pin, the grinding pen and the swinging fixing sleeve are capable of vertically rotating along the fixing pin, the fixing pin is fixed on an automatic feeding workbench, and an X-axis moving mechanism and a Y-axis moving mechanism are arranged between the automatic feeding workbench and the grinding pen. The inner-hole grinding and polishing device has the advantages of high efficiency and good polishing effect.