The invention provides a road surface embedding device and method of a piezoelectric substrate. The road surface embedding device comprises a vehicle body, wherein a milling mechanism, a waste collection mechanism, a bonding layer spraying mechanism, a piezoelectric substrate mounting and embedding mechanism and an asphalt structure layer paving mechanism are mounted on the vehicle body in sequence from a vehicle head to a vehicle tail, wherein the milling mechanism can be used for milling a road surface to form an embedding groove; the waste collection mechanism is used for collecting wasteswhich are generated in a process of milling the road surface through the milling mechanism; the bonding layer spraying mechanism is used for spraying a bonding layer into the embedding groove; by adopting the piezoelectric substrate mounting and embedding mechanism, the piezoelectric substrate is conveyed into a hanging basket through the conveyor belt and is mounted in the embedding groove through the hanging basket; the asphalt structure layer paving mechanism is used for paving an asphalt structure layer and restoring a road surface. The road surface embedding device provided by the invention can realize more functions. The invention provides a novel engineering machinery product which is rare in a piezoelectric substrate embedding construction process, so that mechanical construction of piezoelectric substrate embedding of an existing road surface and a newly-built road surface can be realized.