The invention relates to a swing arm middle-arranged-type double-axle steering system comprising a front axle steering unit, a rear axle steering unit and a longitudinal pull rod. The front axle steering unit comprises a power steering gear, a front axle swing arm, a front axle left pull rod, a front axle right pull rod, a front axle left trapezoid arm and a front axle right trapezoid arm. The rear axle steering unit comprises a follower, a rear axle swing arm, a rear axle left pull rod, a rear axle right pull rod, a rear axle left trapezoid arm and a rear axle right trapezoid arm. The power steering gear and the follower are fixed on a vehicle frame, the front axle left trapezoid arm, the front axle right trapezoid arm, the rear axle left trapezoid arm and the rear axle right trapezoid arm are fixedly connected with a front axle left steering knuckle, a front axle right steering knuckle, a rear axle left steering knuckle and a rear axle right steering knuckle correspondingly. The input end of the power steering gear is connected with a steering wheel through a steering driving shaft and an angle driver. The swing arm middle-arranged-type double-axle steering system has the advantages of being simple in structure, convenient to use, large in output torque, small in occupied space, large in turning angle and high in wheelbase adaptation and can meet the using requirement of a wheel large bouncing amount heavy chassis.