To provide an automatic penetration testing machine and a method for pulling out a penetration rod by which the penetration rod can be pulled out surely from a ground.

The automatic penetration testing machine has a vertically movable platform 3 lifted and lowered and operated along a support 2, a lifting-lowering unit 7 mounted on the ramp 3 and lifting and lowering and operating the platform 3, a chuck rotary driving means 5 arranged to the ramp 3, a rod chuck 4 receiving the driving of the driving means 5 and being rotated, the penetration rod 6 rotatably held together with the rod chuck and a control means 40 driving the unit 7 so that the platform 3 is elevated as the rod 6 is left as it is held to the chuck 4 while turning the chuck 4 by driving the driving means 5 as required.