The disclose provides a magnetic levitation gravity compensation device, including: a first permanent magnet, which is cylindrical; a second permanent magnet, which is cylindrical, arranged in the first permanent magnet and radially spaced from the first permanent magnet; and at least one end permanent magnet, which is cylindrical, and is located on at least one of two axial ends of the second permanent magnet and axially spaced from the two axial ends of the second permanent magnet, a center line of the end permanent magnet is configured to coincide with a center line of the second permanent magnet, and a cylinder wall thickness of the end permanent magnet is smaller than that of the second permanent magnet, wherein a magnetization direction of the first permanent magnet is a radial direction, and a magnetization direction of the second permanent magnet and the end permanent magnet is an axial direction.