A portable beating device for picking fruit off trees comprises a support frame (3)； a pair of oscillatory beating members (4) supported by the frame (3)； and a movement system (5) supported by the frame (3) and moving the beating members (4) by means of a pushing element (39)； the beating members (4) being hinged to the frame (3) or to the pushing element (39) by means of respective composite joints (28； 38) configured to allow the rotation of the respective beating member (4) about at least a first rotation axis (A, B) and a transverse displacement of said first rotation axis (A, B) while the beating member (4) rotates about said first rotation axis (A, B).
