A bionic pneumatic soft gripping device includes a flexible sleeve, a connecting base, a pneumatic artificial muscle, a flexible holder, and a gap tube. The flexible sleeve is an annular jacket-like structure. The flexible holder is a tubular hollow structure having openings at both ends thereof. The pneumatic artificial muscle is wound on the flexible holder. The flexible sleeve is sleeved on the flexible holder connected with the pneumatic artificial muscle through the opening of the flexible sleeve. The pneumatic artificial muscle is connected to a tube joint via a fastening sleeve, and the tube joint is connected to the gap tube. The bionic pneumatic flexible gripping device of the present disclosure has advantages of large gripping force and compliancy, thereby effectively gripping objects in various shapes within its gripping size range.