A position and azimuth measurement device capable of measuring geographical coordinates and azimuth angles and a surveying device are provided. The position and azimuth measurement device includes a GNSS device, having a GNSS antenna for obtaining position information thereof; a horizontal rotating section capable of rotating the GNSS antenna horizontally; a leveling section capable of leveling the horizontal rotating section; a horizontal angle detector configured to detect a horizontal angle of the horizontal rotating section; and a control device. The control device causes the GNSS device to continuously obtain the position information while causing the horizontal rotating section leveled by the leveling section to make one full rotation, and computes geographical coordinates and an azimuth angle on the basis of the position information obtained throughout the full rotation.