The invention discloses an electrostatic probe control mechanism and method for measuring a surface potential of a complex insulation structure. The electrostatic probe control mechanism comprises a tested basin assembly, an insulated connecting rod, a transmission component, a driving component, an electrical connection part and an electrostatic probe motion measuring mechanism. The driving component is provided with a rotating shaft, and the rotating shaft is connected with the transmission component. One end of the insulated connecting rod is used for being connected with the tested basin assembly, and the other end of the insulated connecting rod is connected to the rotating shaft through the transmission component, thereby driving the tested basin assembly to rotate. The electrostaticprobe motion measuring mechanism can perform translational movement in the horizontal direction and the vertical direction and rotate in the vertical plane. The rotation of the tested basin assemblycooperates with the movement of the electrostatic probe motion measuring mechanism to achieve full coverage measurement of the tested basin assembly. The tested basin assembly and the electrostatic probe motion measuring mechanism each have an external control mechanism to control its motion.