The invention relates to a miniature insect-like double-rotation flapping wing air vehicle. The miniature insect-like double-rotation flapping wing air vehicle comprises a rack, a flapping-wing rotary transmission system, a left-side front-rear flapping system, a right-side front-rear flapping system and a tail-wing system, wherein a motor b drives a left-side front flapping wing, a left-side rear flapping wing, a right-side front flapping wing and a right-side rear flapping wing to flap at high frequency by a gear b, a gear c, a worm, a front turbine, a rear turbine, a front two-end corner shaft and a rear two-end corner shaft. A motor a drives the left-side front flapping wing, the left-side rear flapping wing, the right-side front flapping wing and the right-side rear flapping wing to move in a rotating manner by a gear a, a gear f, a gear d, a gear e, a transmission shaft, a gear h, a gear g and a gear i. Compared with the prior art, the miniature insect-like double-rotation flapping wing air vehicle has the advantages that each flapping wing can move in a rotating manner; the transmission of the turbines and the worm has self-locking performance; complete symmetry of flapping of the left-side flapping wing and the right-side flapping wing is realized by the turbines and the worm; and a flapping mechanism formed by the two-end corner shafts and cylindrical supporting rods is simple in structure and flexible in flapping.