The invention provides an active gravity compensation system with a yaw follow-up function. According to the active gravity compensation system with the yaw follow-up function, the structure is simple, gravity compensation is thorough, and spacecraft space motion can be simulated. The active gravity compensation system comprises a horizontal follow-up supporting module, a rolling pitching low-friction follow-up module, a gravity compensation active follow-up module, a sensing measurement module and a coordination control module. The horizontal follow-up supporting module can actively follow longitudinal and transverse motion of a spacecraft, so that the gravity compensation active follow-up module is always in the vertical direction. The rolling pitching low-friction follow-up module can follow rolling motion and pitching motion of the spacecraft. The gravity compensation active follow-up module can completely compensate the gravity of the spacecraft and actively follow yaw motion of the spacecraft. The sensing measurement module can measure the change of the spacecraft in the vertical direction and the angle of the spacecraft horizontally rotating around the transverse direction. The coordination control module is responsible for collection and integration processing of system information, and thus all the modules of the system can work according to system design, so that the spacecraft space motion ground reappears.