The invention discloses a satellite uplink signal transmission time compensation method. The method is characterized in that a ground satellite communication device receives a time service signal sentby a navigation satellite and a pilot signal sent by a communication satellite at the same time, an output time service second pulse and a pilot frequency second pulse are correspondingly generated,and the time deviation of the two second pulses is compared, and then the time deviation is used as the correction amount to adjust the time for emitting an uplink signal by a ground satellite communication device, so that the uplink signals of the ground satellite communication device reach the communication satellite in highly precise manner. A collision between multiple uplink signals from different ground satellite communication devices can be avoided, the protection interval between adjacent uplink signals is reduced, and the system capacity of a whole communication satellite is increased. In addition, the invention further discloses a satellite uplink signal transmission time compensation device and a satellite communication system.