The invention discloses a center-shaft-free chain wheel and hanging basket guide rail type full-automatic underground parking garage. Concentrated stereoscopic intelligent parking of motor vehicles is an important issue for modern city development, most of underground parking garages are still in an original free parking state at present, and automatic underground parking garages few in number have lots of problems in the aspects of the automation degree, efficiency and the like. According to the center-shaft-free chain wheel and hanging basket guide rail type full-automatic underground parking garage, motor vehicles needing to be parked are parked into hanging baskets for parking vehicles from the centers of center-shaft-free chain wheels of a ground part, and the vehicle hanging baskets hung uniformly are made to get into and out of underground space in a barrier-free mode through transmission chains; after entering the underground space, vehicles are guided through chain power transmission chain wheels, underground parallel movement is maintained through chain supporting chain wheels installed on a garage underground part steel frame, bottom wheels under hanging basket bottom plates make contact with underground hanging basket guide rails and slide transversely at the moment, multiple motor vehicles are moved and parked in sequence under the state that the chains bear no load, and thus batches of motor vehicles are stored underground through full-automatic management under microprocessor control while a small ground space is occupied.