The invention discloses a pipe supporting device. The pipe supporting device comprises a mounting seat, the left and the right of the top of the mounting seat are provided with a left arm and a right arm respectively in a hinged mode through hinge pins; the same sides of the top ends of the left arm and the right arm are provided with V-type structural wheels through roller pins; the bottom of the right arm is hinged to one end of a connecting rod, the other end of the connecting rod is hinged to a lug plate fixed in the middle of the left arm, the bottom end of the left arm is hinged to the piston end of a hydraulic cylinder, and the base of the hydraulic cylinder is fixedly mounted at the bottom end of one side of the mounting seat, which is close to the right arm. According to the pipe supporting device, the single hydraulic cylinder drives the left arm rotate, and the left arm drives the right arm to swing through the connecting rod to achieve linkage of the two swing arms and further to control opening and closing of the two wheels mounted at the top ends of the two swing arms to clamp a pipe. The pipe supporting device is concise in structure, scientific and reasonable in design and convenient to operate and can clamp and support pipes of different specifications without changing jaws to save time and labor, reduce wearing of the pipes, enhance the centering precision and improve the working efficiency.