The invention discloses a double-station synchronous machining device for a rigid straight pipe. The double-station synchronous machining device comprises a first clamping mechanical arm used for clamping one end of the to-be-machined rigid pipe and sending the rigid straight pipe into one machining device body, a second clamping mechanical arm used for clamping the same end of the to-be-machined rigid pipe again and sending the to-be-machined rigid straight pipe into the other machining device body, a feed device and a machine frame. The first clamping mechanical arm and the second clamping mechanical arm are arranged in the same direction side by side. The feed device is arranged at the inlet end of the first clamping mechanical arm. The second clamping mechanical arm is arranged at the outlet end of the first clamping mechanical arm. A discharge device is arranged at the outlet end of the second clamping mechanical arm. By means of the double-station synchronous machining device, one end of the rigid straight pipe can be synchronously and differently machined two times, and the machining efficiency is improved; and meanwhile, the double-station synchronous machining device is suitable for rigid straight pipes of different pipe diameters, the application range of the double-station synchronous machining device is greatly widened so that the double-station synchronous machining device can adapt to machining of various different rigid straight pipes, the purchase cost is reduced for factories, and the production quality of products is improved.