The invention discloses a voltage coordination control method and device based on improved adaptive model predictive control. An evaluation target is determined according to a system prediction trajectory. By calculating the sensitivity characteristics of the evaluation target relative to the system alternative control, the maximum voltage regulation capability of the alternative control to the evaluation target is estimated in the conditions of the overvoltage and the undervoltage, and an uniform time-domain parameter applicability judgment index is constructed based on the result, and an online quantization selection basis of time-domain parameters is supplied. In each sampling period, the time domain parameters are updated according to the applicability judgment index and the real-timemeasurement data. In a single failure scene, the control time-domain parameters and the predicted time-domain parameters are decremented which can significantly reduce the online calculation time andspeed up the voltage recovery. The application range of the invention is not limited to the power system voltage control problem, and can be extended to the rolling time-domain optimization problem based on the linearized prediction model.