A non-intrusive laser irradiation device has a shell body, a circuit board, at least two laser components, a switch and a light guiding pipe. The circuit is disposed in the shell body. The laser components are arranged in the shell body. One end of each laser component protrudes out of the shell body, and the other end is electrically connected to the circuit board. One end of the switch is disposed on the shell body, and the other end is electrically connected to the circuit board. The light guiding pipe is sleeved onto the front end of the laser components. Infrared pulse lights with a wavelength of 800-900 nm generated by the laser components are used to cure ache and stimulate the proliferation of marrow cells. The light guiding pipe collects the laser light energy to irradiate directly acupuncture points to achieve the effect of acupuncture and moxibustion.