The invention discloses an omnidirectional vectored thrust cycloidal propeller, which comprises a propeller, a cycloidal oar and a cycloidal oar eccentric circle positioning mechanism, wherein the cycloidal oar comprises cycloidal oar blades in the same number as propeller blades, control pull rods, an operating rock arm and a cycloidal oar blade spherical hinge; each cycloidal oar blade is hinged with a propeller blade at rear grazing point of the front edge of the propeller blade; the airfoil surface of each cycloidal oar blade is vertical to that of a propeller blade; an eccentric circularring of the cycloidal oar eccentric circle positioning mechanism is sleeved on a propeller shaft; the connecting rod of the spherical head of each spherical hinge is connected with the eccentric circular ring respectively; each control pull rod is connected with a cycloidal oar blade; the operating rock arm is positioned in a spanwise symmetrical surface of the cycloidal oar blades; the cycloidaloar blade spherical hinge at one end of the operating rock arm is connected with one end of the control pull rods; and the other end of the operating rock arm is fixedly connected to a cycloidal oar blade tubular beam. The omnidirectional vectored thrust cycloidal propeller of the invention combines the advantages of the cycloidal oar and the conventional propeller and has an omnidirectional vectored thrust while improving aerodynamic efficiency of the conventional propeller.