Embodiments of the present disclosure provide a multi-sensor calibration method, a multi-sensor calibration device, a computer device, a medium and a vehicle. The method includes: acquiring data acquired by each of at least three sensors in a same time period in a traveling process of a vehicle; determining a trajectory of each of the at least three sensors according to the data acquired by each of at least three sensors; and performing a joint calibration on the at least three sensors by performing trajectory alignment on the trajectories of the at least three sensors.