The invention relates to a lip curve surface shape error measurement device and measurement method for a wave-shaped lip oil seal. The measurement device includes a locating and measurement adjustingdevice, a camera adjusting device, a measurement device body and a computer; the measurement device body comprises a longitudinal laser range finder, a transverse laser range finder, a target, a measurement rod, a measurement head, an upper micro distance camera, a point laser source and a lower micro distance camera. Later, an oil seal lip curve surface shape and a standard lip curve surface areobtained through the measurement device body to conduct curve surface shape error evaluation under a same coordinate system. The measurement device adopts a non-contact measurement mode, and comparedwith a traditional probe measurement head and other contact-type measurement methods, the non-contact measurement mode has the advantage that external force cannot be performed on the oil seal made ofsoft materials to make the oil seal deformed, and the measurement precision is effectively ensured. According to the measurement device and the measurement method, the problems that existing measurement devices cannot precisely measure the errors of lip curve surface shapes of wave-shaped lip oil seals is solved, the manufacturing precision of the wave-shaped lip oil seals can be effectively measured, and the work performance of the oil seals is ensured.