The invention relates to the field of machining, and provides a universal joint pin machining device. The universal joint pin machining device comprises a machine base, a spindle arranged on the machine base, a clamp frame arranged at one end of the spindle and a feeding device corresponding to the spindle; a cavity is molded in the clamp frame; the device is characterized by further comprising a moving worktable arranged on the machine base, and the feeding device is arranged on the moving worktable; a vertically-arranged clamping oil cylinder is arranged on the upper side wall of the clamp frame, the lower end of the clamping oil cylinder is provided with a clamping head moving along with the clamping oil cylinder, a vertically-arranged four-position steering device is arranged on the lower side wall of the clamp frame, the upper end of the four-position steering device is provided with a dividing head moving along with the steering device, and the clamping head right faces the dividing head vertically. According to the universal joint pin machining device, machining of four shaft cylindrical faces of a universal joint pin can be continuously completed through one-time clamping, the machining efficiency and the machining precision are improved, the production cost is reduced, safety performance is high, and the device is simple in structure and high in generality.