Piccolo-128 is a 64-bit ultra-light block cipher suitable for the constrained environments such as wireless sensor network environments. In this paper, we propose biclique cryptanalysis on the full Piccolo-128. To recover the secret key of Piccolo-128, the proposed attack requires $2^{24}$ chosen plaintexts and the computational complexity of about $2^{127.35}$. This result is the first known theoretical attack result on the full Piccolo-128.