The present invention relates to an antenna clamping device including an antenna clamping unit having a tip portion on which an antenna device is mounted, the antenna clamping unit being configured to perform at least any one of a tilting rotation and a rotating rotation to set directionality of the antenna device and having a rear end inserted and fixed into an opened upper end of the support pole, an insertion-type clamping unit disposed inside the opened upper end of the support pole and configured to mediate the fixed insertion of the antenna clamping unit, the insertion-type clamping unit being pressed and fixed to an inner peripheral surface of the support pole, and a support bracket unit fixedly disposed on an outer peripheral surface of the support pole and configured to fixedly support a lower end of the antenna clamping unit, thereby providing an advantage of improving workability for an onsite installer.