The invention relates to a rolling compound cycloid pinwheel planetary transmission device, belonging to the technical field of mechanical transmission. The transmission device comprises an input shaft, an output shaft and an outer shell and is characterized in that the input shaft is provided with an internal gear or a turning arm bearing; an intermediate of the outer shell is provided with an internal gear ring; a radial hole is arranged on the circumference of a variable-speed portion of the output shaft and is provided with a slider linear bearing; a pinwheel rolling bearing B is arrangedat the external side of the slider linear bearing and is contacted with the internal gear ring on the intermediate of the outer shell; and a pinwheel rolling bearing A is arranged at the internal side of the slider linear bearing and is contacted with the internal gear or the turning arm bearing. The transmission device has the advantages of simple structure, compact assembly, small volume, low cost, large bearing force, impact resistance, low fault, high transmission efficiency, large transmission ratio range, long bearing life, wide application range and the like and can be widely used for reducing, variable-speed and step-up transmission.