A Compact Heavy Duty Lifting Crane (CHDLC) for removing and installing heavy objects such as engines and transmission from vehicles. The CHDLC incorporates a feature that allows the vertical lifting angle of the telescoping boom (40) to remain constant as the telescoping pylon cylinder (18) is raised. This feature is particularly useful for removing engines located in limited-space engine compartments such as those encountered in vans and buses. The CHDLC consists of two major assemblies: a base assembly and a portable lifting crane. When the CHDLC is used as a standard utility crane in a repair shop the crane is mounted to the base assembly. When the CHDLC is required to be mounted on a truck bed the crane is removed from the base assembly and installed on a truck pylon plate (14a) that is permanently mounted to the bed of the truck. Additionally, the CHDLC may be placed in its storage configuration. In this configuration the CHDLC occupies a horizontal area of only four square feet.