The present invention provides an efficient time domain full waveform inversion method, belonging to the field of efficient, low storage, high precision and high speed modeling of petroleum seismography data. The efficient time domain full waveform inversion method comprises the following steps: (1) employing original seismic observation records to randomly form supper-shot gathers with different frequency bands through adoption of a source polarity randomizing scheme, a source position randomizing scheme and a source number randomizing scheme; (2) accelerating the forward modeling of high order staggered mesh finite differences of a sound wave equation system and an elastic wave system of the one-form basis of the time domain through adoption of a multi-GPU parallel computing technique on the basis of CUDA, and obtaining a supper-shot gather with the ifreq frequency band simulated by the GPU; and (3) simulating propagations with different seismic sources through multi-GPU nucleus and through adoption of the collaborative technology of the CPU and the GPU at the forward modeling, and storing boundary data of a seismic source wave field and all the wave fields at the last moment to a computer memory.