Provided are an astronomical observation device with multiple lenses and an imaging method thereof. The astronomical observation device comprises a base table (1), a swing rod (2), a lens barrel (3), and a plurality of driving mechanisms, wherein, the swing rod (2) is swingably arranged on the base table (1), the lens barrel (3) is arranged above the base table (1) under the function of the fixed support of the swing rod (2), at least two lenses (31) are provided in the lens barrel (3); the driving mechanism comprises a first driving device (41), a second driving device (42) and at least one lens driving motor (43), wherein the first driving device (41) is used to drive the base table (1) to rotate horizontally, the second driving device (42) is used to drive the swing rod (2) to swing to change the inclination angle of the swing rod (2); and the lens driving motor (43) is used to drive a single lens (31) or a plurality of lenses (31) to rotate simultaneously. The astronomical observation device can be adjusted at the horizontal angle and the pitch angle, and does not require to rely on an equatorial, which is light and compact; the use of image processing technology after multi-lens imaging replaces a wide-angle telephoto lens, and it reduces costs.