The invention discloses a double-rotor engine which is mainly composed of a cylinder body, an inner rotor, an air guide hole, a sealing guide tile, an outer rotor, an exhaust port, a shaft, a spark plug, an air inlet, a left end cover and a right end cover. Under the cooperation of the cylinder body, the inner rotor, the air guide hole, the sealing guide tile, the outer rotor, the exhaust port, the shaft, the spark plug, the air inlet, the left end cover and the right end cover, when the inner rotor pushes the outer rotor to synchronously rotate in the cylinder body, a closed space formed by the inner rotor, the outer rotor and the inner wall circle of the cylinder body is continuously expanded and shrunk, and therefore circulating work of air inlet, compression, acting and exhaust is completed. The engine is novel in conception and ingenious in design, and the unique inner and outer rotor structure enables the engine to be large in torque, high in efficiency, small in size and simple and reliable in structure.