The invention relates to a micro-robot eyeball structure driven by a two-degree-of-freedom actuator. The micro-robot eyeball structure comprises an eyeball, the two-degree-of-freedom actuator and an external support. The eyeball comprises an upper half eyeball body and a lower half eyeball body, and a miniature image sensor, a wireless image transmission transmitter and a power supply battery are arranged in an inner cavity fixedly. The bottom of the eyeball is in threaded connection with the two-degree-of-freedom actuator. The two-degree-of-freedom actuator is composed of a metal body and four piezoelectric ceramic plates. The eyeball and the two-degree-of-freedom actuator are fixed in the vertical direction through a top plate and a bottom plate. The outer surface of the upper half eyeball body makes contact with the spherical surface of a central hole of the top plate, and the bottom plate makes contact with the two-degree-of-freedom actuator. The two-degree-of-freedom actuator can drive the eyeball and the miniature image sensor to rotate around two coordinate axes. The miniature image sensor can be made to achieve different postures by means of two-degree-of-freedom matching movement. The micro-robot eyeball structure has the characteristics of being compact, high in control precision and easy to miniaturize, and can be used for visual tracking systems such as robot eyeballs, unmanned aerial vehicles and intelligent monitoring devices.