Measuring low-frequency and ultra-low-frequency vibration signals is of critical importance in fields such as structural mechanics, geological exploration, aerospace, precision machining, and biomedicine. Existing methods face limitations in achieving both ultra-low-frequency range and high precision. We present an ultra-low-frequency vibration measurement method based on the atom interferometer, capable of measuring vibration signals from 0.01 Hz to DC. The performance of measurement was experimentally demonstrated for vibrations between 0.007 Hz and 0.01 Hz, achieving a sensitivity of 1.1 μm/s2/Hz. Incorporating active vibration isolation can further enhance the measurement range, increasing the optimal sensitivity to 0.2 μm/s2/Hz.