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This invention provides a tube-launched rotor-wing loitering munition and its operating method, comprising a first-stage propulsion device, a deceleration parachute, a second-stage propulsion device, a multi-rotor UAV, a warhead, and a seeker. The beneficial effects of this invention are: The first-stage propulsion device provides initial velocity during launch, enabling rapid deployment. During flight, the first-stage propulsion device can be automatically jettisoned via a mechanism, reducing the weight of the loitering munition and increasing its operational time. The invention also includes a second-stage propulsion device, which further increases the flight speed of the loitering munition, extending its range and compensating for its insufficient operational distance, ensuring the munition quickly reaches a preset altitude and position. For launch-type rotor-wing loitering munitions, by rationally designing the main body structure and the arm extension and retraction structure, the retraction size is significantly reduced, meeting overload requirements and enabling tube-launching of the rotor-wing loitering munition.