The invention relates to a variable angle supersonic vibration auxiliary grinding device for precision and ultra-precision machining. The variable angle supersonic vibration auxiliary grinding device for precision and ultra-precision machining comprises the following parts arranged on a measuring cell including a disc-shaped rotating table lower base and a disc-shaped rotating table upper base, an amplitude-change pole clamping device lower base and an amplitude-change pole clamping device upper base, and an ultrasonic generator and a workpiece support table which are connected to a amplitude-change pole, wherein concentric locating is conducted between the disc-shaped rotating table lower base and the disc-shaped rotating table upper base, the disc-shaped rotating table lower base is connected with the disc-shaped rotating table upper base in a rotating mode, and the middle portions of the amplitude-change pole clamping device lower base and the amplitude-change pole clamping device upper base are folded to fixedly clamp the amplitude-change pole. According to the variable angle supersonic vibration auxiliary grinding device for precision and ultra-precision machining, supersonic vibration in any direction can be achieved through the accurate rotation of the rotating table upper base and the rotating table lower base; meanwhile, a workpiece support table platform is facilitated to be adjusted to horizontal by the adoption of the folding clamping mode; the measuring cell is only connected with the rotating table lower base, and therefore it is guaranteed that the amplitude-change pole is still capable of measuring the force of a grinding wheel in three directions when the amplitude-change pole rotates at any angle; the variable angle supersonic vibration auxiliary grinding device for precision and ultra-precision machining is applicable to the precision and ultra-precision machining of hard brittle materials and part of alloy materials.