The present disclosure provides a circuit delay self-measurement method, device and system. The device includes: a first communication interface, configured to receive a first analog signal; a receiving circuit module, configured to perform a first processing on the first analog signal to generate a first digital signal; a main control chip, configured to generate a second analog signal; a first switch module, configured to turn off a path between the first stationary end and the first connection end and turn on a path between the first stationary end and the second connection end; the main control chip is configured to send the second analog signal to the receiving circuit module; the receiving circuit module is configured to perform the first processing on the second analog signal to generate a second digital signal; the main control chip is configured to determine the circuit delay of the receiving circuit module.