The invention relates to an underwater vehicle vector propeller based on universal joint and worm wheel and worm combination control. The underwater vehicle vector propeller based on universal joint and worm wheel and worm combination control comprises a steering worm wheel and worm mechanism, a power shaft mechanism, a power shaft steering mechanism and a sliding flow guide hood device. The steering worm wheel and worm mechanism transmits torque of a stepping motor to thrust rods, the thrust rods are fixedly connected with worm wheels and generate axial force on a push-pull rod while rotating around a worm wheel shaft, and the two worm wheels installed perpendicular to each other are responsible for the two thrust rods arranged perpendicular to each other. According to the working principle of the vector propeller, the vector propeller is very different from traditional rudder and propeller combination control, and as steering force of a submersible directly comes from the propeller, the vector propeller can provide higher control performance for the submersible in a low-speed state compared with the rudder and propeller combination control.