The present invention relates to a dual-rotor motor for electric vehicle, wherein an output shaft is at least partly located in a housing and arranged rotatably relative to the housing, a stator is sleeved around the output shaft, an outer three-phase winding is arranged outside the stator, an outer rotor is sleeved around the outer three-phase winding and arranged rotatably relative to the stator, an inner three-phase winding is arranged inside the stator, an inner rotor is inserted in the inner three-phase winding around the output shaft and arranged rotatably relative to the stator, and a continuously variable transmission system with planet gear and dual-rotor motor for electric vehicle and a control method thereof are provided, the dual-rotor motor for electric vehicle of the present invention is designed skillfully and unique in structure, by cooperating with the planet gear, it can sufficiently make use of the wide speed adjustable range of the motor to regulate speeds, compared with an automatic stepped or continuous variable transmission cooperating with a traditional internal combustion engine, the structure of the transmission system is simpler, and has advantages of stepless speed change and high transmission efficiency, and ultimately improves the vehicle performance, therefore the present invention is suitable for large-scale popularization.