The invention discloses a visual servo-loading seepage test method for a cracked coal and rock sample, aims to test pore structure change and seepage evolution characteristics of the cracked coal androckmass compaction process in a coal mining goaf and can construct the pore structure of the cracked coal and rockmass. The test method is characterized in that 1), according to an experimental design scheme, the crushed coal and rock sample with suitable particle sizes is selected and placed in a visual transparent kettle; (2), the compaction stress of a collapse zone in the goaf is measured, and a laboratory loading and unloading stress path of the cracked coal and rock sample is designed; (3), according to the designed loading and unloading stress path, the cracked coal and rock sample isloaded; (4), in the stress loading process, the gas or liquid permeability test is performed by an automatic gas-liquid seepage system when the specified stress is increased each time; and (5), in theloading process, CT scanning is performed when the compaction stress reaches the specified stress. The test method is advantaged in that the pore structure change and the seepage evolution characteristics of the cracked coal and rockmass compaction process in the goaf are obtained.