An ultrasonic-assisted abrasive jet deburring machining device is characterized in that the device comprises a lifting mechanism (1), a part fixture (2), an abrasive liquid mixing box (3), a high-precision two-axis workbench (4), a stirring mechanism (5), a transducer (6), a amplitude-change pole (7), a vibration transmission rod nozzle (8), an ultrasonic power supply (10), a flow sensor (15), anelectric control valve (16) and a hydraulic diaphragm pump (21), wherein the part fixture (2) is connected to the high-precision two-axis workbench (4); the ultrasonic power source (10), the transducer (6), the amplitude-change pole (7), and the vibration transmission rod nozzle (8) are connected; the inlet end of the hydraulic diaphragm pump (21) is connected with the abrasive liquid mixing tank(3); an outlet end bypass of the hydraulic diaphragm pump (21) is provided with a safety valve (20); and an main line outlet of the hydraulic diaphragm pump (21) is fixedly connected to the vibrationtransmission rod nozzle (8) through a hose (12). The device has the advantages of being simple in structure, high in automation degree, free of machining pollution and high in efficiency.