The invention discloses a novel side-entering type fruit picking device, and belongs to the field of agricultural machinery. The fruit picking device comprises a pressing strip, a static blade, a cushioning block, a static blade pressing block, a cutter head, a spring, a base, an operation hand rod, a loading structure, a cover plate, a base arm, a cutter head clamping block, a moving blade and amoving blade pressing block. The fruit picking device is characterized in that the two ends of the pressing strip are movably connected with the top of the upper surface of the base arm, one end of the static blade pressing block is fixedly connected with the inner side of the top end of the base arm, the lower end of the cushioning block is movably connected with the upper surface of the other end of the static blade pressing block, one end of the cutter head is slidably connected with the inner side of the middle of the base arm, one end of the moving blade pressing block is movably connected with the bottom side of the interior of the cutter head, one end of the spring is fixedly connected with the outer portion of the cutter head, and the other end of the spring is fixedly connected with the inner side of the base. According to the fruit picking device, the positioning when picking is conducted is convenient, the operation is reliable and convenient, the device can be dismantled, assembled and combined at will, the carrying is convenient, the cost is low, the operation is simple, the efficiency is high, and the fruit picking device is applicable to various kinds of operating environments.