The invention discloses a self-tuning magnetic-coupling resonance wireless energy transmission system and a self-tuning method thereof. The system comprises a transmitting terminal circuit and a receiving terminal circuit, wherein the transmitting terminal circuit is formed by electrically connecting a high-frequency power supply, a transmitting terminal power matching circuit, a transmitting terminal directional coupler detection circuit, a transmitting terminal tuning capacitor and a transmitting coil in sequence; the receiving terminal circuit is formed by electrically connecting a receiving coil, a receiving terminal tuning capacitor, a receiving terminal directional coupler detection circuit, a receiving terminal power matching circuit, a rectifying and converting circuit and a load in sequence; and a two-port network is formed by the transmitting coil, the receiving coil, the transmitting terminal tuning capacitor and the receiving terminal tuning capacitor. The invention has the advantages that: 1, the self-tuning process is conducted online, and the system has strong self-adaptive ability; 2, the self-tuning control structure is simple and easy to implement; 3, and the system is kept in a magnetic-coupling resonance state, and has high power transmission efficiency.