The invention provides a target-free automatic measuring device and method for axis pose of a tubular part and aims to improve the measurement accuracy of the pose of the tubular part on the premise of automation, non-contact and no target. The method comprises implementation steps as follows: establishing a measurement coordinate system according to the measuring device; controlling a computer toacquire multiple section profiles of the tubular part located on a parallel section through a laser profile sensor; controlling the computer to calculate fitting points of axis of the tubular part and fitting points of busbars on each section; controlling the computer to calculate the pitch angle and the deflection angle of the axis of the tubular part; controlling the computer to calculate comprehensive fitting points of the axis of the tubular part, performing spatial linear fitting on these comprehensive fitting points to obtain pose parameters of the axis of the tubular part. The measuring device and method can be applied to precise measurement of the axis poses of tubular parts in an automatic tubular part assembly process to facilitate adjustment by a pose adjusting mechanism.