The invention relates to a self-propelled orchard picking platform. The self-propelled orchard picking platform comprises a chassis system, a vertical type lifting device, a parallelogram lifting device, a shears-fork type lifting frame, an operating platform and a hydraulic control system, wherein the vertical type lifting device is arranged at the rear of the chassis; the parallelogram lifting device is arranged at the front of the chassis; the bottom of the shears-fork type lifting frame is arranged on the chassis; the operating platform is arranged at the top of the shears-fork type lifting frame; the hydraulic control system is used for providing power; the operating platform can unfold left and right and incline front and back so as to adapt to different fruit tree row intervals; and the chassis can incline left and right, can adapt to rugged hilly grounds and ensures the level of the operating platform. The self-propelled orchard picking platform can effectively solve the problems that the harvesting, loading and unloading of fruits are difficult due to insufficient picking height during harvesting in orchards, different fruit tree row intervals cause insufficient picking distances, and mechanical operation is difficult due to the rugged hilly grounds.