The present invention relates to a magnetic separation apparatus for continuous separating and recovering magnetic solid particles from a solid-liquid mixture. The apparatus includes at least one magnetic separation unit and each unit includes: an outer cylindrical vessel having a material inlet, a first outlet, and a second outlet; an inner cylindrical vessel, at least part of which extends along the axis inside the first cylindrical vessel without contacting with the inner surface of the outer cylindrical vessel; and a magnet, rendering the bottom of the inner cylindrical vessel magnetism during the first period and making the part of the surface lose its magnetism during a second period. When the solid-liquid mixture flows through the magnetic surface of the inner cylindrical vessel in the passage, the magnetic solids are absorbed and separated from the mixture.