The invention discloses a semi-grouting sleeve fullness inspection device and a using method. The device includes a slurry outlet plug, a vent hole plugging matter, a test tube and an industrial endoscope, wherein the slurry outlet plug is in the shape of a truncated cone and has a horizontal through hole on the upper side, a truncated through hole is on the lower side, a smaller end of the truncated through hole is disposed on the side of the slurry outlet plug with the larger diameter, the vent hole plugging matter is embedded in the truncated through hole below the slurry outlet plug, the test tube is disposed in a horizontal through hole of the slurry outlet plug at an upper portion, the test tube has a detachable airtight seal at one end of the outer side of the slurry outlet plug, the other end of the test tube has an opening, the industrial endoscope can be detected by the test tube extending into the interior of a semi-grouting sleeve. The device is advantaged in that after grouting, the fullness inside the grouting sleeve can be quickly, intuitively and reliably detected, moreover, in the case of finding that grouting is not full, the semi-grouting sleeve can be filled with grouting on site, and check can be performed another time.