A multipurpose sensor fixing device includes a radial positioning mechanism, a supporting mechanism, a base, a mounting mechanism, and a parallelism adjusting member. The supporting mechanism comprises a main supporting arm and an auxiliary supporting arm, with one end of the auxiliary supporting arm connected to the main supporting arm and the other end comprising kink shaft members. The main supporting arm is connected to an end of the radial positioning mechanism to locate the auxiliary supporting arm at the inner side of the main supporting arm. The kink shaft member of the auxiliary supporting arm is inserted into a plughole of the base to form a revolute pair with the auxiliary supporting arm. The mounting mechanism is mounted at the base. The parallelism adjusting member is mounted on the main supporting arm.