A method for continuously producing a fatty acid ester of the present invention comprises (a) mixing and agitating an oil and fat starting material and a lower alcohol, and supplying a mixture to one of the catalyst reaction tubes filled with a lipase; (b) producing a fatty acid ester and glycerin in the catalyst reaction tube; (c) introducing an outflowing liquid from the catalyst reaction tube into a glycerin separation tank, thereby collecting the glycerin; (d) adding a lower alcohol to a separated liquid obtained by separating the glycerin from the outflowing liquid, mixing and agitating an obtained material, and supplying a mixture to a following catalyst reaction tube; (e) repeating the steps (b) to (d) until supply to a last catalyst reaction tube is performed; and (f) collecting a fatty acid ester from the separated liquid obtained from the last catalyst reaction tube. According to the method of the present invention, the concentration of a lower alcohol can be strictly controlled and by-product glycerin can be automatically removed.