A monopile foundation guiding device is provided. The monopile foundation guiding device includes at least one guiding unit; each of the at least one guiding unit includes a single driving unit, a transmission unit, and a clamping unit; the clamping unit includes at least two clamping arms, and a clamping space for clamping a monopile foundation is formed between the at least two clamping arms; the single driving unit transmits power to the transmission unit, and the at least two clamping arms are driven to operate synchronously by means of the transmission unit, so that the clamping unit is opened or closed.