The invention discloses a household car moving device which comprises a lifting mechanism, a travelling mechanism, a steering mechanism, an electrical control unit and a handheld-type wireless control box. The lifting mechanism comprises a worm gear, a transmission shaft, a crank rocker mechanism, a connecting rod mechanism, a supporting rod, a linear guiding rail and carrier rollers; the travelling mechanism comprises a worm gear, an electromagnetic driving jaw clutch, a spline shaft, a gear pair, a bevel gear pair, an inner shaft, an outer shaft and a supporting shaft; and the steering mechanism comprises a worm gear for steering and an outer shaft. According to the household car moving device, a car mover is arranged below each wheel, and four car movers serve as a set to be used synchronously; during car moving, power is supplied through a storage battery in a car, the wheels are lifted, and moving and steering are synchronously conducted; the lifting mechanism drives a crank to rotate through a worm gear transmission mechanism, centering clamping connecting rods can close the two carrier rollers and lift tires, universal wheels are arranged below the carrier rollers, and travelling wheels are arranged at the two ends of the supporting shaft; and the torque is increased through the worm gears, the structure is simple, steering is convenient, and semi-automatic car moving can be achieved.