The present invention discloses a continuous esterification micro-reaction apparatus and a micro-reaction system composed of the same. The continuous esterification micro-reaction apparatus is provided with a reaction chamber, a raw material inlet, a product outlet, a water outlet and a water permeable membrane. The water permeable membrane divides the reaction chamber into two parts, wherein a first part of the reaction chamber is communicated with the raw material inlet and the product outlet, the second part of the reaction chamber is communicated with the water outlet, and the spacing between the water permeable membrane and an inner wall of the first part, communicated with the raw material inlet and the product outlet, of the reaction chamber is 50[mu]m-2mm. The continuous esterification micro-reaction apparatus provided by the present invention is applied to a reactor for generating water. The water in the reaction can be removed from the reaction system so that the reaction is further carried out, thereby improving productivity, increasing product purity, and reducing waste discharge and post-processing cost.