The invention provides a rotation-type milling force sensor for measuring torque and axial force. The rotation-type milling force sensor for measuring the torque and the axial force comprises a main body structure; the main body structure is connected with a protection shell; the protection shell is connected with a protection shell cover; the front end of the main body structure serves as a standard knife handle connecting port, the rear end of the main body structure serves as a standard knife tool clamping port, and a cage-type structure in the middle of the main body structure serves as an elastic component of the entire sensor; according to the cage-type structure, on the basis of a curved solid formed after an arc rotates a circle, four couples of gaps symmetrically and evenly distributed in pairs are incised out, so that the curved solid is incised into eight parts; four of the eight parts are each provided with a small platform; and semiconductor silicon strain gauges are pasted at the centers of the small platforms, wherein the semiconductor silicon strain gauges in the axial direction and in the direction perpendicular to the axial direction are connected into a Wheatstone full-bridge for measuring the axial force Fz, and the semiconductor silicon strain gauges which are pasted in the positive and negative 45 degree directions are connected into a Wheatstone full-bridge for measuring the torque T which is imposed on a knife tool in machining. The rotation-type milling force sensor for measuring the torque and the axial force has the advantages of being high in sensitivity, high in rigidity, low in cross interference, high in adaptability and the like.