Disclosed is a tube multi-point incremental forming apparatus and method, including a tube feed apparatus and a forming apparatus. The tube feed apparatus and the forming apparatus are installed on a computer numerical control machine tool workbench (8); the forming apparatus includes a large gear (2), a small gear (19) and multiple sets of independent tool devices, each set of tool devices includes a tool head (16) and a tool head motor (18), the tool head (16) is fixed on the large gear (2), which can change its radial angle with the large gear (2) to change the initial angle of the three tool heads. The device is configured to allow multiple tool heads to process different parts at the same time to achieve efficient processing.