A telescopic device includes a first U-shaped connector with a plurality sets of adjustment slots defined in two sides thereof and arranged along an adjustment direction; a second U-shaped connector defining first through holes in two sides thereof, the second U-shaped connector being inserted into the first U-shaped connector with U-shaped openings thereof opposite to each other to define an accommodating space; a first spring located in the accommodating space and abutting against the first and second U-shaped connectors, respectively; an elastic pin with two ends thereof extending through the first through holes and engaging into one of the plurality sets of adjustment slots; and an initial fixing pin being detachably connected to the first and second U-shaped connectors. A telescopic annular tunnel steel arch includes an upper arch, two lower arches and two telescopic devices connecting two ends of the upper arch to the two lower arches, respectively.