The invention relates to non-excavation repairing device for drainage pipeline structure deformation. The non-excavation repairing device comprises a machine body, and driving devices are mounted at the two ends of the machine body. Each driving device comprises at least three sets of telescopic supporting legs, and the supporting legs are distributed around the axis of the machine body at equal included angles. Driving wheels are mounted at the ends, away from the machine body, of the supporting legs. The machine body is provided with a jacking device, and the jacking device comprises a repairing head in sliding connection with the machine body. The stretching end of the repairing head is arranged in an arc shape, and the motion direction of the repairing head is perpendicular to the axisof the machine body. By means of the arrangement, after the concave portion of a pipeline is jacked and repaired, and the inner diameter of the pipeline can be restored; and compared with the concavestate, the pipeline flow is increased, and the situation that the local pressure intensity of water pressure on the concave portion is too high is reduced. By arranging the three sets of length-adjustable supporting legs, the repairing device can adapt to the pipeline within a certain caliber range, and the concave portion is jacked and repaired after stable supporting is achieved in the pipeline.