A coupling device for recovering an unmanned ship includes: a coupling unit, which is lifted and lowered by being connected to a crane provided in a mother ship; an accommodation unit provided in the unmanned ship, and having a vertically communicating coupling hole; a guide unit performing guiding such that the coupling unit is coupled to the accommodation unit, and including a towing line formed to be long, and a winch connected to the other side of the towing line so as to selectively wind or unwind the towing line; and a control unit including a sensing part for sensing the tension applied to the towing line by the driving of the winch, and a control part for lowering the coupling unit connected to the crane, if the intensity of the tension sensed by the sensing part is a preset value or higher.