A polyamide (PA) nanofiltration (NF) membrane and a preparation method thereof by regeneration from a scrapped microfiltration (MF) membrane are provided. The method adopts a cleaning-repairing-interfacial polymerization upgrading strategy, where, sodium hypochlorite and oxalic acid are used for deeply cleaning a scrapped MF membrane. PDA is used as a repairing agent to construct a reaction platform on the membrane surface, and finally a reaction system of piperazine and trimesoyl chloride (TMC) are used to form a PA NF membrane with a PA active layer. The repairing can construct a coating with a given thickness and prominent hydrophilicity on the membrane surface, which provides favorable base membrane conditions for upgrading and preparing an NF membrane.