The invention discloses an axial injection end combustion solid-liquid rocket engine structure which comprises an engine head cover, a solid propellant shell, a solid propellant heat insulating layer, end combustion solid propellants, a spray pipe shell and a spray pipe heat insulating layer. The engine head cover is mounted at the front end of the solid propellant shell, the spray pipe shell is mounted at the rear end of the solid propellant shell, the engine head cover is provided with an air inlet channel, the end combustion solid propellants are coaxially arranged in the solid propellant shell, a constant volume cavity is formed between the front end faces of the end combustion solid propellants and the rear end face of the engine head cover, each end combustion solid propellant is provided with a plurality of axial injection holes with small diameters, the flow rate of oxidizing agents in the injection holes is high, and combustion reaction only occurs at the end faces of the end combustion solid propellants; the joint between the solid propellant shell and the engine head cover and the joint between the solid propellant shell and the spray pipe shell are respectively provided with a sealing structure, so that air impermeability of an engine is guaranteed; the heat insulating layers are arranged in the solid propellant shell and the spray pipe shell, so that thermal protection performance of the engine during operation is guaranteed. Thus, performance of the engine is improved, meanwhile the filling fraction of the engine is improved, the slenderness ratio of the engine is reduced, and the application rage of engine is widened.