A contact-type massage tapping device includes: a main body of the tapping device and a cavity having a first opening. The main body of the tapping device includes a tapping body with at least one movable connection member and a driving end; a connecting seat, and a tapping driving assembly. The at least one movable connection member of the tapping body is connected to the connecting seat. The tapping body has at least one reciprocating swinging degree of freedom A relative to the connecting seat. The tapping driving assembly is connected to the driving end of the tapping body, and the tapping driving assembly is used to provide reciprocating motion power of the tapping body within the degree of freedom A. The main body of the tapping device is disposed inside the cavity.