A universal multipurpose sensor fixing device comprises a radial positioning mechanism, supporting mechanisms, bases, acoustic emission test sensor mounting mechanisms, and parallelism adjusting members. Each supporting mechanism includes a main arm and an auxiliary arm having one end connected to the main arm and a ball head on the other end. A parallelism adjusting member mounting mechanism is provided at the joint of the main arm and the auxiliary arm. The main arms are respectively connected to the two free ends of the radial positioning mechanism to position the auxiliary arms at the inner sides of the main arms, arranged axis symmetrically with respect to the central line of the radial positioning mechanism. The ball heads of the two auxiliary arms are located within spherical holes of the bases to form universal revolute pairs. A set of acoustic emission test sensor mounting mechanisms are mounted at each base.