Abstract: Micro-thrusters play a pivotal role as actuators for satellite attitude and orbit control, and the precise measurement of their thrust performance is essential for ensuring mission success. In order to address the challenges presented by conventional micro-thruster measurement devices, such as difficulties in accurately determining thrust arm measurements and issues with jet deflection during measurement, as well as the complexities involved in assembly and adjustment, a novel micro-thruster measurement device based on the Roberval balance structure has been designed and developed. This innovative device features a fixed thrust arm length that is independent of the micro-thrusters’ installation position, this feature significantly reduces the uncertainties associated with thrust arm measurements and, in turn, simplifies the complexity of micro-thruster assembly and adjustment processes. Additionally, the device eliminates thrust plume deflection during online measurement, allowing for the synchronous monitoring of thruster plume informations. The performance testing and evaluation of the newly developed device was rigorously conducted under both open-loop and closed-loop modes using electromagnetic standard force, and a cold gas micro-thruster was successfully calibrated through this device. Test results indicate that the device has an open-loop measurement range of 2 mN, a resolution better than 1 μN, and a measurement uncertainty of 2.33 μN+0.99%T (where T represents the measured force) for this device. In closed-loop mode, the resolution is greater than 5 μN, with a measurement range of up to 100 mN, and a measurement uncertainty of 18.00 μN+0.31%T.This device is capable of meeting the precise thrust measurement requirements of a variety of micro-thrusters ranging from micronewtons to millinewtons, and provide support for the rapid development of China's commercial aerospace industry.