The invention relates to a pantograph lifting control method and device for a full electric vehicle, and belongs to the technical field of rail transportation. The method comprises the steps of detecting whether or not a pantograph is lowered in place within a preset time when the pantograph is controlled to be lowered, and if yes, recovering a driving mode; if not, observing the lowered conditionof the pantograph through a camera, and when the pantograph is lowered to reach a preset position, recovering the driving mode, otherwise, issuing a fault alarm. According to the pantograph lifting control method and device for the full electric vehicle, through the cooperation use of a sensor and the camera, the condition that whether or not the pantograph of the vehicle is lowered in place canbe quickly and effectively detected, the situation that the pantograph is not lowered in place is avoided, the detection accuracy and effectiveness are improved at the same time, and the situation isprevented that the vehicle cannot be driven normally since signals for indicating that pantograph is lowered in place are not detected due to faults of the sensor.