Prestressed tubular piles are a kind of workpiece commonly used in infrastructure construction of oil and other industries. The prestressed tubular piles shall be vertical to the ground at all times during installation. In engineering practice, professionals are usually required to monitor at all times. This method is easy to lead to personnel fatigue and error. Aiming to this, in this paper, a real-time monitoring method of prestressed tubular piles construction state based on machine vision is proposed and verified with the field data. The proposed method can realize the real-time vertical monitoring of prestressed tubular piles during installation. The research results can provide a reference for the assistance and automatic monitoring of the prestressed tubular piles installation process.