The invention discloses a lifting method and a lifting system for six-degree-of-freedom active type wave compensation. The lifting method is characterized in that eight sets of servo systems and a binocular vision detection system are arranged on lifting equipment of a supply ship, each servo system consists of a steel wire rope traction lifting tool system driven by a servo motor, and the binocular vision detection system comprises two cameras; every two of eight steel wire ropes in the lifting tool system are respectively tied to the four corners of a load, and the two cameras are used for respectively detecting, and forming negative feedback according to the relative positions and relative attitudes of the supply ship and the supplied ship in the supply process, and the current speed and position parameters of the steel wire ropes, and the negative feedback is input into the control parameters of the steel wire ropes; the servo motors are used for controlling the rotation speeds and directions of the steel wire ropes according to the control parameters, the six-degree-of-freedom movement of the load corresponding to a base is uniform with the six-degree-of-freedom movement of the supplied ship corresponding to the base, and the purpose of six-degree-of-freedom relative movement compensation is realized. The lifting method has the advantage that the anti-swinging characteristic is better.