A steam massaging device includes a steam generator, a main tube and a massaging means. The steam generator comprises a boiler, a seal lid and a steam outlet. The steam outlet has one end located above the boiler and the other end connected to one end of the main tube. The main tube has the other end connected to the massaging means for conducting steam to an interior of the massaging means. The massaging means comprises at least one massaging plate assembly or one massaging rod assembly. The massaging plate assemblies are interconnected, and the massaging rod is connected to the massaging plate assembly/assemblies so that steam can flow through them. The massaging device may be used to massaging the back and waist as well as the soles.