Provided is a dynamic characteristic measurement method for a cylinder block of a non-intrusive axial piston pump. The cylinder block is the main rotating component of the axial piston pump, and the dynamic characteristic of the cylinder block is more capable of reflecting the health condition of the pump than an external characteristic. A non-contact type measurement scheme is provided so as to reduce the influence of a measurement device on the motion of the cylinder block. Cylinder block contour signals and radial displacement signals are obtained by measuring the radial displacement of two sections of the surface of the cylinder block under different working conditions in the perpendicular directions, and then the cylinder block contour signals are accurately removed from the radial displacement signals to obtain the translational and tilting motion characteristics of the cylinder block.