The planetary rubbing pea peeling machine can complete the peeling and separation of peas. The device mainly includes a feeding hopper, a planetary transmission, a planetary carrier, a planetary shaft, a drum, a roller, a rubbing roller, and a discharge port. Main shaft, idler, chain drive, driving device, in which the peas enter the inner cavity of the drum from the feed hopper, and under the action of the relative kneading motion of the rubbing roller and the drum, the peas sandwiched between the two are peeled due to friction and shear force , the peeled pea germ skin mixture is discharged from the discharge port; the planetary rubbing pea peeling machine has high working efficiency, convenient operation, simple structure, saves more labor resources, increases farmers' income, and reduces labor intensity of workers.