The invention relates to a bridge inspection and maintenance device comprising a walking guidance beam (1) which is arranged along the extension direction of a bridge, an inspection channel (2) which is used for supporting maintenance personnel and equipment, a channel walking mechanism (3) which is used for driving the inspection channel (2) to move along the walking guidance beam (1), a channel rotating mechanism (4) which is used for rotating the inspection channel (2) from a position vertically extending with respect to the walking guidance beam (1) to a position being parallel to the walking guidance beam (1), a series of separated hanging mechanisms that are alternately arranged on corresponding beams of the bridge, and at least three supporting walking units (6). The distance between the farthest two hanging mechanisms among any three adjacent hanging mechanisms is less than the length of the walking guidance beam (1); each of the supporting walking units (6) is provided with a unit walking mechanism that is arranged on the walking guidance beam (1) in a walking manner, and is hung on the walking guidance beam (1). Comparing with the prior art, the bridge inspection and maintenance device reduces the building cost of bridges, and the bridge inspection and maintenance device is convenient to be popularized.