A linear smoothing zeroing method for servo mechanisms of a carrier rocket comprises the steps that first, starting linear zeroing moments of each of the servo mechanisms is determined; second, linearzeroing moments and linear zeroing time of each of the servo mechanisms are determined; and finally, servo zeroing coefficients of each of the servo mechanisms are calculated and a corrected swing angle of a servo engine is obtained to finished linear smoothing zeroing of the servo mechanisms. According to the linear smoothing zeroing method for the servo mechanisms of the carrier rocket, the implementation is simple, the popularity is easy, and the rocket attitude deviation between stage separation periods (such as booster separation and first-stage separation) can be effectively reduced through the linear zeroing of the servo mechanisms to provide better initial attitude conditions for the attitude control of the next flight phase; and the linear smoothing zeroing method can be widely used in the control of grade transferring and phase transferring of various types of aircraft and has a good use value.