A vehicle-carried radiation inspection system has a simple structure with advantages of convenient operation, little scanning blind area and reliable safety performance. The system includes a loading vehicle, a lifting device mounted to the loading vehicle and a radiation scanning inspection device fixedly mounted to the lifting device so as to ascend/descend together with the lifting device. The lifting device is configured to enable the lifting device and the radiation scanning inspection device as a whole to be apart from the ground by a predetermined safety distance when the loading vehicle is moving, and to enable the minimum distance therebetween during inspection to be less than the predetermined safety distance. The radiation scanning inspection device may be switched between higher and lower positions as required with the ascending/descending of its combination with the lifting device.