The invention discloses a double-cylinder pumping device, and further provides a concrete pump truck. Lubricating openings are formed in one sides, close to main hydraulic cylinders, of conveying cylinders respectively, first rear buffering openings and second rear buffering openings are formed in one sides, away from the conveying cylinders, of main hydraulic cylinder barrels of the main hydraulic cylinders respectively at intervals in the length direction and are connected through rear buffering pipes; according to the relative position of the first rear buffering openings and the second rear buffering openings, when the head portions of pistons of the main hydraulic cylinders are located between the first rear buffering openings and the second rear buffering openings, the head portions of concrete pistons correspond to the lubricating openings. According to the technical scheme, when moving to regions of the first rear buffering openings and the second rear buffering openings, the concrete pistons can be buffered and correspond to the lubricating openings at the moment, and can be more accurately lubricated by lubricating oil, abrasions caused by insufficient lubrication of the concrete pistons is reduced, the reliability of the pumping device is improved, and the service life of the pumping device is prolonged.