The invention discloses a method for pickling the inner and outer surfaces of a pipe. The method comprises the following steps: (1) mounting the pipe to be cleaned in a pipe fixture device, and connecting the pipe fixture device with a fixture clamping mechanism; (2) injecting a pickling solution into an acid tank, and soaking the pipe into the pickling solution; (3) letting a transverse moving device drive the fixture clamping mechanism, so as to drive the pipe to do reciprocating motion in the acid tank, wherein an acid conveying pipeline jets the pickling solution to the inner wall of the pipe; (4) after cleaning is completed, taking out the pipe from the acid tank, and removing the pipe from the pipe fixture device. According to the method, the soaking pickling method is combined with the jetting pickling method, so that a plurality of pipes can be pickled at one time; the method is high in production efficiency, safe, reliable, and high in pickling quality; meanwhile, the chance that a worker gets close to the pickling solution is reduced; the method is suitable for production of small-diameter pipes, in particular for production of precision pipes.