The invention relates to an inertial actuator rigid-flexible coupling micro-vibration isolation device, which comprises a connecting rigid body with an annular structure, and two flexible varied rigidity beams arranged in the connecting rigid body, wherein two ends of the two flexible varied rigidity beams are connected with the connecting rigid body; and the two flexible varied rigidity beams are perpendicularly connected in the middle. The inertial actuator rigid-flexible coupling micro-vibration isolation device provided by the invention solves the problems that an existing active vibration isolation device is complex in structure, large in size, and low in reliability, has a better vibration isolation performance, and cannot affect a driving torque output by an inertial actuator.