The invention discloses intelligent bridge inspection equipment. The inspection equipment comprises a freely-traveling trolley, a first horizontal arm lever, a vertical arm lever, a second horizontal arm lever, a sensor inspection module and a GPS module; one end of the first horizontal arm lever is installed on the freely-traveling trolley, and the other end of the first horizontal arm lever is connected with the upper end of the vertical arm lever; the lower end of the vertical arm lever is connected with the second horizontal arm lever through a hydraulic rotary motor; the sensor inspection module comprises multiple laser displacement sensors which are distributed uniformly on the second horizontal arm lever and infrared sensors installed at the two ends of the second horizontal arm lever, and the output ends of the laser displacement sensors and the output ends of the infrared sensors are sequentially connected with an A/D converter, a microprocessor and a storer; the data transmission end of the microprocessor is connected with the data transmission end of the GPS module, and the output end of the microprocessor is further connected with the control end of the hydraulic rotary motor. According to the intelligent bridge inspection equipment, the structure is simple, useful data can be collected effectively, the data size is reduced, and the good application prospect is achieved.