The invention relates to a full-revolving thruster with a real-time force-measuring function. The full-revolving thruster comprises a pod rod, a rotating table, a stress sensor, a sliding ring, a thruster shell, a thruster front cover connected with the front end of the thruster shell in a sealed mode, a thruster rear cover connected with the rear end of the thruster shell in a sealed mode, a motor fixed in the thruster shell, a propeller shaft arranged in the thruster front cover through a bearing, and a propeller mounted at one end of the propeller shaft. A rotating shaft of the motor is connected with the other end of the propeller shaft through a coupling. The bottom end of the pod rod is fixedly connected with the thruster shell. The top end of the pod rod is fixedly connected with astress gauge of the stress sensor. A base of the stress sensor is fixedly connected with the rotating part of the sliding ring and the rotating part of the rotating table. The positioning part of thesliding ring is fixedly connected with the positioning part of the rotating table. The thruster can feed back the amplitude and direction of the thruster thrust in real time, and improves the precision of dynamic positioning.