The invention discloses a three-dimensional calibration target-based multi-channel fisheye camera calibration device and method and belongs to the camera calibration technical field. The method includes the following steps that: a three-dimensional coordinate system is established; each fisheye camera in a panoramic image pick-up module is utilized to acquire the images of two calibration plates in a calibration target which are located at different positions; an isometric projection distortion model is selected; the intrinsic parameters of the corresponding lens and extrinsic parameters between a lens coordinate system and all plane calibration plate coordinate systems are calculated; the rotation and translation matrix of the two plane calibration plate coordinate systems and a three-dimensional calibration target coordinate system is calculated; and the obtained intrinsic parameters and extrinsic parameters of the lens are nonlinearly optimized, so that the optimal intrinsic parameters of the lens and the optimal extrinsic parameters of the lens relative to each calibration plate coordinate system can be obtained. According to the method, the folding type calibration target is adopted to achieve the calibration of the intrinsic parameters and extrinsic parameters of each lens, so that high-quality calibration images can be obtained; the intrinsic parameters and extrinsic parameters of each lens are optimized according to the known position relationship between a three-dimensional calibration target and the lens, and therefore, the accuracy of camera calibration can be greatly improved.