A pipe cutting device includes: a body; a pipe fixing part disposed adjacent to a hollow hole of the body and capable of fixing a pipe; a rotating plate coupled to the body so as to be rotatable about a center axis of the hollow hole and connected to a first driving part to be rotationally controlled; a cam coupled to the rotating plate so as to be rotatable about a rotation shaft at a point spaced apart from the center axis; and a cutter part coupled to the rotating plate to rotate together with the rotating plate and to come into contact with the cam such that, according to rotation of the cam, a cutting tip moves forwards and backwards the center axis.