The invention discloses a bionic underwater vehicle flapping wing propulsion device. An underwater vehicle comprises a drive motor assembly, a transmission gear set, a ball screw, a steering engine, asteering shaft, an adaptive under-actuated flexible wing framework, a single-sliding block and double-rocker mechanism, and a fixing seat, the drive motor assembly, the ball screw and the fixing seatare connected with an underwater vehicle body separately, the drive motor assembly is composed of a motor, a speed reducer and an encoder, the ball screw is composed of a screw rod, a screw nut and ascrew fixing seat, and an output shaft of the speed reducer is connected with a driving gear of the transmission gear set; a driven gear of the transmission gear set is connected with the screw rod of the ball screw, and the motor drives the screw rod to rotate through the transmission gear set. The bionic underwater vehicle flapping wing propulsion device has the advantages that the integral structure is provided with a front end swing and a rear end swing, the whole device has two degrees of freedom, and propulsion, turning, floating, submergence and other movements of the underwater vehicle can be achieved.