A universal acoustic emission test sensor fixing device includes a radial positioning mechanism, supporting mechanisms, bases, acoustic emission test sensor mounting mechanisms, and parallelism adjusting members, in which the supporting mechanism includes a main supporting arm and an auxiliary supporting arm, with one end of the auxiliary supporting arm fixedly connected to or hinged with the main supporting arm and the other end being provided with a ball head, and a parallelism adjusting member mounting mechanism is provided at the joint of the main supporting arm and the auxiliary supporting arm, and the base is provided with a spherical hole.