The invention discloses a method for controlling earth surface residual settlement by means of grouting and filling an old goaf. The method comprises following steps of 1) collecting basic parameter and information of the old goaf; 2) calculating the height of a space which can be grouted and filled in the old goaf; 3) drilling holes in the construction ground, and constructing several sets of vertical boreholes from the earth surface above the old goaf to the goaf; 4) stopping the drilling process and carrying out grouting and filling on the layer when flushing fluid in holes are totally lost during the drilling process; stopping the grouting and filling process after grouting pressure is formed; continuing the drilling process downwards; circulating in this way until the coal floor is drilled, carrying out the final round of grouting and filling process, thereby completing the filling of the old goaf; and carrying out grouting and filling supplement. According to the invention, the grouting and filling process is carried out by means of surface drilling, residual cracks in the old goaf can be effectively reached, and the filling effect can be achieved with no need of large area communication filling work space.