The invention discloses an underwater bionic vehicle based on combined propulsion of swinging pectoral fins and dorsoventral tail fins, and belongs to the field of bionic underwater vehicles. The underwater bionic vehicle comprises a left side pectoral fin driving module 50, a right side pectoral fin driving module 51, a head and trunk control module 52, a tail fin driving module 53 and a skin 54;the head and trunk control module 52 serves as the trunk and the control part of the whole bionic vehicle; the left side pectoral fin driving module 50 and the right side pectoral fin driving module51 are two symmetrical assemblies, and are correspondingly mounted on the two sides of the head and trunk control module 52; and the tail fin driving module 53 is mounted at the tail end of the head and trunk control module 52. With the adoption of multi-fin-ray pectoral fin and serial joint tail fin structure, the vehicle simultaneously has the characteristics of the high steering maneuverabilityand the high pitching maneuverability, the movement speed is high, and the acceleration performance is good. The movement speed of the vehicle can reach 2 times of the body length per second, and movement of no-radius rotation and inverse swimming at no movement speed, and the like that existing pectoral and tail fin propulsion type bionic vehicles can not complete can be made by the underwater bionic vehicle.