The invention discloses a permanent-magnet magnetic levitation device for linear motion. The permanent-magnet magnetic levitation device comprises a levitation fixed permanent-magnet array (1) and a levitation movable permanent-magnet array (4), as well as a guiding fixed permanent-magnet array (5) and a guiding movable permanent-magnet array (6) arranged oppositely; the levitation fixed permanent-magnet array (1) and the levitation movable permanent-magnet array (4) are arranged to provide a levitation adjusting force in the vertical direction in such a manner of same polarity at the same layer on the same side, opposite polarities of adjacent layers on the same side, and opposite polarities of the permanent magnets arranged oppositely at the same horizontal position; the guiding fixed permanent-magnet array (5) and the guiding movable permanent-magnet array (6) are arranged to provide a guiding adjusting force in the horizontal direction in such a manner of same polarity at the same layer on the same side, opposite polarities of adjacent rows on the same side, and opposite polarities of the permanent magnets arranged oppositely at the same vertical position. The permanent-magnet magnetic levitation device for linear motion is capable of generating great and relatively stable levitation adjusting force and guiding adjusting force, and is compact in structure, low in cost, convenient to mount, and suitable for popularization and utilization.