A docking and active damping device for space structures is provided, in a docking portion of one space structure to be docked, with a positioning device in which an output rotor can be moved and rotated within a two-dimensional plane by a composite rotation of one or more eccentric rotors capable of being independently driven and controlled by a direct drive motor and the output rotor, and a docking member having a docking ring and a latch mechanism are supported on the output rotor of the positioning device. A probe having a capture device capable of being protruded and driven in an axial direction by a linear motion is provided inwardly of the docking member, and the probe provides a 4-freedom movement according to a position of the passive side to capture and dock a drogue. The docking ring is supported through a strain sensor, a vibration of the passive side structure is detected, and the docking member is moved in a direction of suppressing the vibration to promptly suppress the vibration caused by disturbances from the inside and outside of the space structures.