The invention discloses a high-temperature pressure-bearing SA-335P91 pipe residual temperature heat treatment method, which comprises the steps of after extruding a pipe blank, carrying out furnace cooling, wherein the charging temperature of the pipe blank is larger than or equal to 650 DEG C; carrying out isothermal annealing on the pipe blank, wherein 730 to 780 DEG C is selected as the annealing isothermal temperature; warming the pipe blank at the annealing isothermal temperature 750+/-10 DEG C, and normalizing, wherein 1050+/-10 DEG C is selected as the normalizing temperature; and after normalizing and discharging, cooling the pipe blank to the room temperature, and obtaining an SA-335P91 pipe. According to the high-temperature pressure-bearing SA-335P91 pipe residual temperature heat treatment method provided by the invention, through reasonably utilizing heat deformation residual temperature and annealing residual temperature, the problems of long annealing and heat treatmenttime, high energy consumption and low efficiency are solved.