The invention relates to the technical field of vehicles, in particular to a telescopic pedal device and a vehicle. The telescopic pedal device comprises a pedal assembly and a telescopic mechanism. The pedal assembly comprises a plurality of pedal steps. The telescopic mechanism comprises a driver, a lead screw and a motion assembly. The pedal assembly is fixedly connected with the motion assembly. The motion assembly is fixedly arranged on a nut seat of the lead screw, and the driver can drive the lead screw to rotate, so that the motion assembly drives the pedal assembly to move linearly inthe extending direction of the lead screw; when the pedal assembly is started, a pedal is extended to a door of the vehicle through the telescopic mechanism, and getting on and off the vehicle of anoccupant can be facilitated; and when the pedal assembly is closed, the pedal is retracted and hidden by the telescopic mechanism, the appearance molding aesthetics of the vehicle is improved, and thewind resistance of the vehicle is reduced. By using the telescopic pedal device, the vehicle can facilitate getting on and off the vehicle of the occupant when the pedal assembly is started; and whenthe pedal assembly is closed, the appearance molding aesthetics of the vehicle can be improved, and the wind resistance of the vehicle can be reduced.