Topological phases of spin-wave excitations are the prominent area of research in quantum magnetism. In this work, we propose the non-collinearity induced higher-order topological magnon excitations. In three-dimensional honeycomb antiferromagnets, we consider the non-collinear order driven by the external magnetic field perpendicular to the easy axis. The corresponding magnon system is described by the non-Hermitian Hamiltonian. Interestingly, we show that the non-hermiticity of the Hamiltonian induces the higher-order topological phase transition, characterized by one-dimensional hinge magnon modes. As a concrete example, we discuss the case of van der Waals honeycomb antiferromagnet CrCl$_3$, which we propose as the first promising material candidate of the higher-order topological magnon phase.