The invention discloses a continuous rigid frame bridge based on a steel truss-concrete slab composite beam. The continuous rigid frame bridge comprises a bridge substructure and the steel truss-concrete slab composite beam supported by the bridge substructure. The steel truss-concrete slab composite beam comprises a steel truss and a concrete bridge deck which is laid over the steel truss. The steel truss comprises one or more steel truss units; each steel truss unit is an inverted-triangle truss girder, wherein the inverted-triangle truss girder is composed of two upper chords, a lower chord, a left line of diagonal web members and a right line of diagonal web members, each upper chord comprises a first horizontal steel plate and a plurality of first vertical perforated steel plates evenly laid on the first horizontal steel plate, an upper chord transverse connecting system connected between the two upper chords comprises a plurality of upper chord transverse connecting pieces, and each upper chord transverse connecting piece comprises a second horizontal steel plate and a plurality of second vertical perforated steel plates evenly laid on the second horizontal steel plate. The continuous rigid frame bridge is simple in structure, reasonable in design, convenient to construct, good in stress performance, good in using effect and capable of effectively solving various problems existing in an existing continuous rigid frame bridge.