The invention relates to the technical field of waste heat recovery, in particular to a heating furnace waste heat recovery system. The heating furnace waste heat recovery system comprises a heating furnace, a waste heat boiler, a superheated steam boiler and a heating furnace burning gas preheating device, wherein the waste heat boiler is arranged in a flue of the heating furnace; the superheated steam boiler is arranged nearby a steam outlet of the waste heat boiler; the heating furnace burning gas preheating device is arranged in a flue of the tail of the superheated steam boiler; the waste heat boiler is used for recovering heat of the heating furnace; the superheated steam boiler is used for superheating steam generated when the heat of the heating furnace is recovered by the waste heat boiler; smoke generated by the superheated steam boiler is used for preheating the heating furnace burning gas preheating device; and the heating furnace burning gas preheating device is used for preheating burning gases in the heating furnace. The heating furnace waste heat recovery system can enable the burning gases to reach the preheating temperatures and improves the burning stability of the heating furnace under the condition of a variable-load working condition.