The present invention provides a continuous crystallization method under control of the multistage membrane modules, and belongs to the technical field of crystallization engineering. A crystallization solution is added to a crystallizer, and a stirring apparatus and a temperature control apparatus are started. After the system running stability, the loop of crystallization is started. Meanwhile, the coolant or antisolvent feed liquid loop is also started. The crystallization solution can respectively conduct crystal nucleation, growth and ripening in the multistage membrane modules, and then the crystallization solution is transported into a filter device and a drying apparatus to obtain the final crystal products. The desired crystal products can be obtained by the systematical control of the nucleation and crystal growth through the flow and the temperature of the crystallization solution, coolant or antisolvent feed liquid, and the contact time between two liquid phases.