The invention relates to a planetary gear continuously variable transmission, which comprises a box body in which a dual planetary gear train and an ordinary gear train are installed, and is characterized in that the ordinary gear train comprises a speed control gear I, a speed control gear II, a speed control gear shaft and a continuously variable transmission device, and the dual planetary gear train comprises an input shaft, a central gear I, a planetary gear I, a tie bar I, planetary axles, an output shaft, a central gear II, a planetary gear II and a tie bar II; the tie bar I is supported on an input flange, is provided with external cylindrical teeth and is externally meshed with the speed control gear I of the ordinary gear train, and the tie bar II is supported on an output flange, is provided with external cylindrical teeth and is externally meshed with the speed control gear II of the ordinary gear train; the planetary axles are respectively supported in the tie bar I and the tie bar II, and the planetary gear I and the planetary gear II are respectively and externally meshed with the central gear I and the central gear II; and the size parameters of the speed control gears I and II are same, and the size parameters of the external teeth of the tie bar I and the tie bar II are same. The invention solves the problems that the existing single planetary gear chain uses an eccentric output mechanism and has insensitive speed control.