The invention relates to a contact temperature measuring device, system and method for the surface of a moving object in a vacuum low-temperature environment. The device comprises a plurality of temperature sensors, a wireless acquisition terminal and a first antenna, wherein the plurality of temperature sensors are arranged on a moving object inside a vacuum tank body; the wireless acquisition terminal is arranged in a motion simulation mechanism inside the vacuum tank body, and the wireless acquisition terminal is connected with the temperature sensors and used for acquiring signals of the plurality of temperature sensors, generating temperature data through analog-to-digital conversion and transmitting the temperature data in a wireless mode; and the first antenna is installed on the motion simulation mechanism inside the vacuum tank body, connected with the wireless acquisition terminal and used for transmitting the temperature data. The device acquires the real-time surface temperature measurement data of the moving object inside the vacuum tank body by adopting a wireless transmitting and receiving mode in a space environment simulation system. Compared with data transmittedby adopting a backflow ring in the prior art, the stable and accurate transmission of the temperature data is guaranteed.