The invention discloses a sealing structure and method between a forward and backward rotating swing shaft of a submarine vehicle penetrating cabin and a cabin shell. The outer diameter of a high pressure seawater end shaft with the rotating shaft rotating in a forward and backward mode is equal to the outer diameter of a static connecting sleeve, and the high pressure seawater end shaft and the static connecting sleeve are in clearance connection in the axial direction. A high strength anti-abrasion tubular waterproof cloth with the inner diameter being greater than the outer diameter of thehigh pressure seawater end shaft is simultaneously loosely arranged in a sleeving mode on the outer surfaces of the rotating shaft and the static connecting sleeve which are exposed to high pressure seawater. Two sealing hoops are used for correspondingly fixing one end of the high strength anti-abrasion tubular waterproof cloth to the rotating shaft in a sealing mode to rotate with the rotating shaft, and fixing the other end of the high strength anti-abrasion tubular waterproof cloth to the static connecting sleeve in a sealing mode to keep in the static state. High pressure seawater leakagechannels are blocked. The length of the high strength anti-abrasion tubular waterproof cloth is greater than the distance between the two sealing hoops. No matter how high the pressure of the seawater is and how high the seepage force is, the high strength anti-abrasion tubular waterproof cloth is capable of keeping zero leakage of sealing between the penetrating cabin shaft swinging forward andbackward and the submarine vehicle cabin shell, and keeping a void cabin in the submarine vehicle.