The invention relates to a measurement device for the tail spatial position of a robot. The measurement device comprises a base, a stay wire encoder, a transitional mounting plate, encoder assemblies, synchronous belts and follow-up pointing mechanisms, wherein the stay wire encoder is mounted on the bottom of the base through screws; the transitional mounting plate is mounted on the top of the base through screws; the two encoder assemblies are mounted in the middle of the base through screws; and the follow-up pointing mechanisms are mounted in four round holes of the transitional mounting plate through deep groove ball bearings and connected with the encoder assemblies through the synchronous belts. The measurement device is high in precision, convenient to operate and low in cost, and has a low requirement for the measurement environment.