The invention provides a target tracking method and device based on anchor-point-free twin network key point detection. The method comprises the steps: acquiring a target tracking video; sending the target template image and the target search area image into a pre-trained central point estimation module to generate a central point position estimation heat map, an offset estimation heat map from the upper left corner to the central point and a central point position error estimation heat map; sending the target search area image to a pre-trained corner estimation module to generate a corner position estimation heat map and a corner position error estimation heat map; and estimating angular point coordinates according to the offset estimation heat map from the upper left corner to the central point, determining a target frame in the current frame image according to the central point and the angular point coordinates, and completing target tracking. Target tracking is regarded as a determination problem of a center point and a top left corner point, and is decomposed into two parts of corner point position estimation and center point position estimation, so that the use of preset anchor points is avoided, the output quantity of heat maps is reduced, the parameter quantity of a network is reduced, and the speed of a tracking algorithm is increased.