The invention relates to a universal auxiliary parking device. The universal auxiliary parking device comprises a frame, a plurality of universal wheels, a triangular slope, a steering shaft, a jaw, bearings, connecting shafts, a signal receiving device, a control system and a remote control device; the universal wheels are arranged under the frame, and the connecting shafts are connected with the universal wheels through the bearings and connected with the steering shaft through the jaw; the control system comprises a driving device, a single chip microcomputer and a driving module, the signal receiving device, the single chip microcomputer, a control module, the driving device and the steering shaft are connected in sequence; and the signal receiving device receives a signal from the remote control device and controls the steering shaft to steer by the control system. According to the universal auxiliary parking device, universal parking is realized, the parking position can be adjusted, and the auxiliary parking effect is achieved.