The invention discloses a Mo-Se-Ta+TiAlTaN soft and hard composite coated tool and a manufacturing method thereof. The coated tool comprises a tool matrix material which is high-speed steel or hard alloy; and a Ti+TiN transition layer, a TiAlTaN hard coating, a Zr transition layer and a Mo-Se-Ta soft coating are sequentially arranged from a tool matrix to a surface coating. The manufacturing method for the coated tool adopts a multi-arc ion plating and medium-frequency magnetron sputtering mode, and comprises the steps of depositing the Ti+TiN transition layer, depositing the TiAlTaN hard coating, depositing the Zr transition layer and depositing the Mo-Se-Ta soft coating. The coated tool disclosed by the invention has relatively high hardness, has very good lubricating performance and a low friction coefficient, has very good thermal stability, oxidization resistance, corrosion resistance and abrasion resistance, and has a wide application prospect; and the preparation method is simple and is easy to operate.