Abstract: Citrus fruit packing machine, consisting of a framework structure, in front of which corresponding endless conveyors converge at an angle, respectively holding the citrus fruits and the boxes that are going to contain them; a first head, mounted on said framework structure and with means for guided motion in relation thereto on a vertical plane; a second head, mounted on said first head and with means for linear motion in relation to the former on a horizontal plane and possessing set of cups for taking shipments of citrus fruits from their endless conveyor and depositing them in orderly fashion in the corresponding box, without the possibility that citrus fruits of the same shipment might rub against each other by direct contact.