An invention provides a pipe pulling machine, which comprises a tension controller (10), a guiding mechanism (11), a pulling mechanism (12), a speed measuring mechanism (13), a cutting mechanism (14), a displacement mechanism (15), a discharge mechanism (16) and a control system; the tension controller (10) output port is aligned with the inlet port of the guiding mechanism, the feed switch detects the material, the servo motor of the pulling mechanism drives the pipe into the speed measuring mechanism, and the encoder counts the length, and the cutting mechanism cuts the tube when the encoder counts reaches the required length. The pipe pulling machine of the present invention has high pulling accuracy and can effectively avoid or reduce the occurrence of untidy and untight discharge.