The invention discloses a three-freedom-degree ball self-rotation type grinding and polishing device, and relates to grinding and polishing machining. The ball self-rotation type grinding and polishing device is provided with a rack, motors, a ball tool, friction tooth discs, positioning balls and a polishing pad. The three motors evenly distributed in the circumferential direction are arranged atthe upper end of the rack. Each motor shaft is provided with the corresponding friction tooth disc. The axes of the three motor shafts are perpendicular in pairs. The three positioning balls evenly distributed in the circumferential direction are arranged at the lower end of the rack. The ball tool is arranged between the friction tooth discs and the positioning balls. The polishing pad is arranged on the surface of the ball tool. The connecting lines of the contact points of the ball tool and the friction tooth discs and the ball centers of the balls intersect and are perpendicular to the axes of the corresponding motor shafts. The ball tool can be positioned and driven and can freely rotate by 360 degrees, and three rotation freedom degrees of the space are all achieved. The ball tool can be utilized for achieving grinding and polishing machining, a better machined surface can be obtained, generation of irregular machined marks is avoided, surface intermediate frequency errors are reduced, meanwhile, all the surface abrasion positions of the tool are made to be uniform more easily, and the service life of the tool is prolonged.