The invention relates to a coal rock drilling hot and cold filling simulation device which comprises a control base, a bearing frame, a material transferring platform, a mobile drilling machine, an air heater, a gas mass and flow controller, a gas pressure transducer, a liquid nitrogen pressurizer, a low-temperature liquid nitrogen tank, an air compressor, a nitrogen bottle, a drilled hole sealer, a pressure adaptive capsular bag, a universal meter, a high-temperature flow guide pipe, a low-temperature flow guide pipe, a pressurizing pipe, a high-pressure pipe and a data processing terminal. A test method of the coal rock drilling hot and cold filling simulation device comprises five steps of installation of an experimental sample, machining of an experimental drilled hole, cyclic impacting, permeability test and the like. The equipment disclosed by the invention is simple in structure and low in operation cost; on one hand, the coal rock drilling hot and cold filling simulation device is high in operation flexibility and reliability, and the working efficiency and the data acquisition precision of experimental work can be effectively improved; on the other hand, simulation work can be effectively carried out on various underground natural conditions, so that the matching degree between experimental data and actual working data is greatly increased, and the reliability and the accuracy of the experimental data are improved.