The invention discloses a double-mandrel direct-connection precise rotating shaft. The double-mandrel direct-connection precise rotating shaft comprises a main mandrel and a mandrel, wherein the mandrel penetrates and is fixedly connected with a wave generator of a harmonic reducer, the large end of the main mandrel is fixedly connected with a flexible gear of the harmonic reducer, a rigid gear of the harmonic reducer is fixedly connected with a B shaft outer cover, a first contact ball bearing and a second contact ball bearing are fixed on the inner side of the B shaft outer cover, which is close to the harmonic reducer, a third contact ball bearing and a fourth contact ball bearing are fixed on the inner side of the B shaft outer cover, which is far away from the harmonic reducer, inner rings and outer rings of the first, second, third and fourth contact ball bearings are connected with inner and outer ring sleeves respectively, and a first flange and a second flange are disposed at two ends of the B shaft outer cover. According to the double-mandrel direct-connection precise rotating shaft, two mandrels are arranged inside, and the small mandrel drives the large mandrel through the harmonic reducer.