An efficient positive displacement motor under a well comprises a bypass valve assembly, a falling prevention joint, a motor joint, a universal joint assembly and a bearing joint assembly. The efficient positive displacement motor under the well is simple in structure, convenient to use, stable in operation under the well, safe, reliable, high in complete machine efficiency, capable of outputting larger torque, long in working time and service life, suitable for drilling needs of various complex wells at the present, free of piercing leakage and high in working reliability. A streamlined flow channel enables water conservancy losses of a main flow channel to be reduced, turn-off force is large, the defects of the interference effect and tooth form distortion of the conjugation curvature of a traditional single-screw machine type positive displacement motor are overcome, a universal shaft operates flexibly, energy efficiency is high, the universal shaft can work in the environments where no sand grain exists, and drilling fluid erosion exists, the service life is long, and mechanism strength is high.