The invention provides a minimally invasive sampling and injecting device based on an MEMS microneedle. The device comprises the sampling microneedle and an actuator; the sampling microneedle is prepared through an MEMS technology and comprises a needle rod and a base, the needle rod serves as an actual skin piercing portion, and the sampling microneedle can be conveniently and firmly connected with other parts through the base structure; a trace cavity is formed in the actuator, the front end of the actuator is provided with a microneedle base inserting groove which can conveniently and firmly fix the sampling microneedle, and the microneedle inserting groove is connected with the inner cavity through a microchannel; the actuator is made of a transparent high-molecular compound material with the elasticity, the volume of liquid in the cavity can be visually observed, and when the device is used, sampling and injecting are performed by extruding the cavity without needing extra power. According to the device, minimally invasive and painless or slightly pain quantitative sampling and injecting can be achieved, and compared with a traditional mode, the discomfortableness of a user is significantly reduced; meanwhile, operation is easy and rapid, the user can independently complete the whole sampling and injecting process, and popularization is convenient.