The invention relates to the field of underwater vehicles, specifically to a driving and driven hybrid fishtail-like underwater propulsion device. A driving motion part of the driving and driven hybrid fishtail-like underwater propulsion device comprises a plurality of joints, flexible plastic plates, a flexible rod and driving lines; a driven part of the driving and driven hybrid fishtail-like underwater propulsion device is a fishtail made by injection molding of a flexible material; and the driven part of the driving and driven hybrid fishtail-like underwater propulsion device has deformation and returning capacity. Through holes are formed in the joints; two ends of the joints are cylindrical surfaces which are rotationally linked; line holes are formed in the left and right external sides of the joints; and clamping grooves are formed in the upper and lower external sides of the joints. The joints are connected with each other in series through the flexible rod; and the driving lines in a pair pass through the line holes in the left and right external sides of the joints and are connected to the last joint. The flexible plastic plates are similar to fish fins in shape and fixed on the upper and lower external sides of the joints through the clamping grooves. The driving part is driven by the driving lines to perform reciprocating swing, and the driven part moves with the driving part and generates a delay to form S-shaped motion. The driving and driven hybrid fishtail-like underwater propulsion device has the advantages of high propelling efficiency, small noise, lessdrivers and low cost and is very suitable for small- and medium-sized underwater vehicles or water surface vehicles.