The invention relates to a pedal positioning device capable of being adjusted with multiple freedom degrees. The positioning device is composed of a device pedestal, a seat, a supporting sleeve, a positioning bolt, a rod core, a horizontal first T type guide rail, a horizontal second T type guide rail, a pin shaft, a steering arm and a pedal mounting base. According to the device, conformance of multi-freedom direction positioning of a pedal and the operating requirement can be obtained by a designer rapidly and objectively; and the designer can design a safe, comfortable, and efficient pedal device well. The great economic benefits can be created.