The invention discloses a vehicle access lifting device based on a loading shelf. The device comprises the loading shelf, a lifter rail and an access lifter; the loading shelf bears a frame or a frame case of a vehicle and is arranged in a garage in a stacked mode; the lifter rail is erected in the garage and located above the loading shelf; the access lifter is erected in the access lifter rail, and the access lifter grabs the loading shelf and enables the loading shelf to rise and fall in the vertical direction; a rope is wound on a lifting wheel of the access lifter, and the rope is fixedly connected with a connecting and disconnecting hook shaft; connecting and disconnecting hooks are arranged at the two ends of the connecting and disconnecting hook shaft, a disconnecting hook driving device is arranged between the connecting and disconnecting hooks, and a return spring is connected between the connecting and disconnecting hooks; limiting rods are arranged on the connecting and disconnecting hook shaft and matched with limiting grooves formed in the loading shelf. According to the vehicle access lifting device based on the loading shelf, land saving and space saving are fully achieved, and needs of a stereo garage on space is greatly relieved; the installation rate of the stereo garage is increased, existing space can be fully utilized, and the installation cost of the stereo garage is reduced.