The invention relates to a precast tubular pile driving method. The method includes: when a precast tubular pile with a designed ultimate bearing capacity R, an effective wall thickness b and a material specific gravity gamma is driven into a foundation bearing stratum in a horizontal resistance coefficient m, adopting a diesel hammer in weight W being +/-5% of the weight of the to-be-driven tubular pile and a corresponding pile driver, setting an appropriate hammering stroke H, continuously hammering the positioned tubular pile, synchronously measuring hammering penetration of the tubular pile until single-time hammering penetration delta h is smaller than or equal to 4H/(R/W+m*b/gamma-1), and performing subsequent construction judgment. On the basis of the mechanical momentum theorem andthe law of conservation of energy, the method for quick and quantitative driving of the tubular pile is provided, problem of dependency on experience in hammer weight selection, nonuniform pile driving stop standards and uncertain pile bearing capacity in application of a traditional pile driving method are solved, and application of precast tubular piles to industrial road construction is promoted.