The invention discloses a walking dual-swing downhole drill, which comprises a pile frame main body and a drilling main body, wherein the drilling main body comprises an upper power head, a lower power head, an outer sleeve, a spiral drill stem and a downhole hammer; the upper power head is connected with the top end of the spiral drill stem; the bottom end of the spiral drill stem is connected with the downhole hammer; the upper power head drives the spiral drill stem and the downhole hammer to rotate clockwise when working; the lower power head is connected with the outer sleeve and drives the outer sleeve to rotate anticlockwise when working; the downhole hammer comprises an impacter and an impact hammer; the hammer head of the impact hammer is exposed out of the lower opening of the outer sleeve; a high-pressure gas channel is arranged inside the drilling main body, and the high-pressure gas passes through the upper power head, a buffer, the spiral drill stem and the impacter and is finally blown outwards from the bottom part of the impact hammer. The walking dual-swing downhole drill has main characteristics of taking soil to form a hole by a dry method without pollution, and being adapted to various geologies and stratums, such as hard lithosphere, tundra, sand bed with abundant underground water, a rubble layer and boulder, which are difficult to drill by other pile drivers.