The invention provides a double-hemisphere-structured miniature resonant gyroscope and a manufacturing method thereof. The gyroscope comprises a monocrystalline silicon base, sixteen uniformly-distributed electrodes, two symmetrical miniature hemispherical resonators and a center-fixed supporting column, wherein the upper and lower ends of the center-fixed supporting column are respectively connected with the two miniature hemispherical resonators, and eight electrodes are uniformly distributed around each miniature hemispherical resonator; the two miniature hemispherical resonators have the same central shaft, are independent of each other and do not affect each other. The two miniature hemispherical resonators are respectively excited to work by adopting an electrostatic driven manner, and a drive mode and a detection mode are respectively matched with each other. The gyroscope is manufactured by combining an MEMS (Micro-Electromechanical Systems) bulk silicon processing process and a surface silicon processing process. According to the double-hemisphere-structured miniature resonant gyroscope and the manufacturing method thereof, influence caused by factors, such as centrifugal force, centripetal force, common-mode noise, quadratic nonlinear terms and the like is reduced in a differential processing manner; performance indexes, such as high bandwidth, high resolution, high sensitivity, high dynamic range and the like, are simultaneously achieved on a single device.