A camera calibration method and a calibration device are provided. A predicted Z-axis coordinate is predicted by obtaining a functional relationship between a distance of a plurality of pixel regions and a Z-axis coordinate and a distance of a plurality of real-time pixel regions of an initial picture which is obtained at an initial position by the camera to be calibrated. One of a lens and a photosensitive chip is controlled to move relative the other of the lens and the photosensitive chip from the initial position to the predicted Z-axis coordinate.