The invention relates to an automatic milk charging device and a milk cart. Through structural improvement, operation is easy and convenient, labor resources are saved, efficiency is remarkably improved, and pollution can be further avoided. The automatic milk charging device comprises a liquid level sensor, a milk pump, a drive device and a control device, wherein the liquid level sensor is located at a milk bin inlet so as to sense the liquid level in a milk bin; the milk pump is provided with a delivery outlet and a milk delivery pipe connected with the delivery outlet, and an outlet of the milk delivery pipe corresponds to the milk bin inlet; the drive device is used for driving at least the outlet of the milk delivery pipe to transfer, is directly or indirectly connected with the milk delivery pipe, and drives the outlet of the milk delivery pipe to get close to or get away from the milk bin inlet and/or be switched between different milk bin inlets; the control device is provided with a processing module, an input module and an output module; the input module and the output module are connected with the processing module; the input module is connected with the liquid level sensor so that the liquid level information sensed by the liquid level sensor can be received; and the output module is connected with the milk pump and/or the drive device and transmits the control information to the milk pump and/or the drive device.