The invention belongs to the field of biomass energy utilization, and a continuous pyrolysis and carbonization method of agricultural and forestry biomass is disclosed. The method comprises the following steps: feeding biomass feedstock to a dryer for drying, then transporting to a continuous pyrolysis apparatus for pyrolyzing to obtain pyrolysis semicoke and pyrolysis volatiles; and transporting the pyrolysis semicoke to a carbonization apparatus for carbonization to obtain biomass charcoal and semi-coke carbonized volatiles; then discharging the pyrolysis volatiles and the semi-coke carbonized volatiles, and cooling to obtain tar, wood vinegar and pyrolysis gas; introducing the pyrolysis gas into a combustion apparatus for combustion to obtain a high temperature flue gas; and finally transporting the high temperature flue gas into pyrolysis apparatus and carbonization apparatus for supplying heat, then the flue gas after supplying heat is delivered to the dryer and discharging tail gas. In the method, continuous and stable pyrolysis and carbonization of biomasses is realized, the pyrolysis step and the carbonization step are finished in the same system with separate step, transport efficiency is significantly increased, reaction conditions are steady and controllable, and the energy utilization efficiency is high.