The invention discloses a 3D color surface ink-jet printing method used for 3D object color ink-jet printing. The method comprises the following steps: a 3D model RGB original image is generated from a 3D object; according to surface shape matching between spray-heads and the 3D model, the 3D model RGB original image is divided into a conventional surface and a complex surface, and a 3D CMYK four-color ink-jet control file is generated after digital prepress processing; and a conventional spray-head and a capillary spray-head are adopted to respectively carry out CMYK four-color ink-jet printing, drying and curing of both the conventional surface and the complex surface, and a printing stock synchronously carries out non-plane motion so as to realize color surface ink-jet printing. As the spray-heads remain still during the ink-jet process, interference of motions of the spray-heads with the ink-jet process is avoided and ink-jet printing precision is raised; the capillary spray-head can realize ink-jet printing of a complex surface with large ratio of pit-depth to pit-diameter, millimeter-scale micro size, variable curvature, concave surface and the like; and the conventional spray-head has multiple pores for ink-jet, so as to effectively raise ink-jet printing speed, enhance surface ink-jet printing efficiency and obtain high color 3D surface ink-jet printing quality.