The invention belongs to the field of complex curved surface contact measurement, and discloses a self-adaptive sampling complex curved surface contact measurement method. The method comprises the steps that (a) expected contact force and a scanning speed of test needles being in contact with the surface of a workpiece to be tested are set, and scanning is started and a plurality of sampling points are obtained; (b) the size of the actual contact force in the direction of the test needles and in the direction perpendicular to the test needles of each sampling point are separately measured, andthe size and direction of the resultant force the two and an included angle of the resultant force direction and the direction of the test needles are calculated; (c) the difference value between theincluded angles of the adjacent sampling points is calculated to determine whether the difference satisfies a preset angle change threshold or not, and the satisfied sampling point is a measuring point; and (d) the coordinates obtained by scanning each measuring point are saved, the radius of ball heads of the test needles are compensated and then the coordinates of an actual contact point are obtained, and the set of the coordinates of the actual contact points of all the measuring points is the required measurement result. Through the self-adaptive sampling complex curved surface contact measurement method, the surface of the workpiece is avoided to be scratched, the measuring points with large curvature are increased, and the measurement precision and efficiency are improved.