It has attracted much attention on the interplay between topology and criticality in topological quantum systems, i.e., gapless topological quantum phase transition (TQPT) on critical lines. It is demonstrated that the magnetocaloric effect (MCE) is able to signal the gapless TQPT in an extended Kitaev chain, which is witnessed by the unusual critical behavior of joint effect of Grüneison ration (GR) and isothermal entropy change. We uncover the conventional TQPT between gapped phases showing high symmetry (HS) and non-HS critical points with self-duality, which is signaled by the finite value of GR as T → 0 and the largest inverse MCE with T-linear relation of isothermal entropy change. Two critical lines intersect at a multicritical point, at which there is a T−1 critical divergence of GR as well as T1/2 critical behavior of isothermal entropy change. It manifests a “weak” gapless TQPT on one critical line, demonstrated by the shifting zero-crossing of GR without the largest inverse MCE. On the other critical line, it shows a “strong” gapless TQPT, which is evidenced by the negative dip of GR together with the largest inverse MCE. Our work provides a novel thermodynamic perspective on gapless TQPT.