The invention relates to a coil winding machine of a coreless motor, and the coil winding machine comprises a stander, and a winding mechanism, a feeding mechanism and a withdrawing mechanism, which are arranged on the stander, wherein the winding mechanism comprises a first traverse unit, a second traverse unit, a first rotary bushing, a rotary drum, a second rotary bushing, a first power device, a second power device and a winding mandrel, the first traverse unit is fixed on the first rotary bushing, and the second traverse unit is fixed on the rotary drum; and the feeding mechanism comprises a feeding needle for feeding a wire to the winding mandrel, a feeding slide block for fixing the feeding needle and a rotating device for driving the feeding slide block to move forwards and backwards, and the withdrawing mechanism comprises a withdrawing air cylinder which is used for driving the winding mandrel to move leftwards and rightwards. The winding mechanism has high control precision and is precise in winding displacement, winding displacement action is simultaneously completed in the winding process, and a coil is withdrawn after the winding is completed so as to begin a next winding action, the actions are coherent, so that the quality of the wound coil is greatly improved, and the production efficiency is improved.