The invention relates to a double-rotary table semi-physical simulation system and method for a full strapdown missile guidance control system. A guide head, body sight simulation rotary tables, a target simulator, an inertia group, a missile-borne computer, a posture simulation rotary table, a steering gear, a steering gear loading system, a real-time master control simulation machine, a data acquisition computer and a reflective memory network are included; one rotary table is used for simulating the attitude motion, and the other rotary table is used for simulating motion of a missile relative to the body sight. By means of the system, two three-axis rotary tables are used for replacing five-axis rotary tables required during semi-physical simulation of a traditional full strapdown missile guidance control system, and the complexity and cost of the simulation platform are effectively reduced.