A burr elimination device for a camshaft according to the exemplary embodiment of the present invention may include: an operating cylinder configured to move a rod equipped in an end portion thereof in an up and down direction; an ascent/descent member connected to the rod of the operating cylinder; a rotation unit configured to rotate a camshaft that is held apart from the ascent/descent member and on which cam lobes are formed; a plurality of cylinder members disposed on the ascent/descent member corresponding to the cam lobes; a moving rod configured to be inserted into or drawn out of each of the cylinder members; a spring mounted inside each of the cylinder members and configured to elastically push the moving rod from the interior to the exterior of the cylinder member; and a burr elimination tool that is mounted on the end portion of the moving rod and that is configured to pivot in front/rear and left/right directions with respect to a predetermined center point for continuous elimination of a burr that is formed at an edge of a cam lobe.