The invention provides an SCR aftertreatment double-rotational flow urea mixing device integrated with an axial inlet nozzle. The SCR aftertreatment double-rotational flow urea mixing device integrated with the axial inlet nozzle comprises a mixing cylinder. A front rotational flow partition plate and a rear rotational flow partition plate are arranged in the mixing cylinder. The interior of the mixing cylinder is divided into a front cavity, a middle cavity and a rear cavity by the front rotational flow partition plate and the rear rotational flow partition plate. An injection base is arranged in the middle cavity of the mixing cylinder. Rotational flow structures in a cat ear shape or in a ball shape are arranged on the front rotational flow partition plate and the rear rotational flow partition plate correspondingly. The SCR aftertreatment double-rotational flow urea mixing device integrated with the axial inlet nozzle is simple in structure, reasonable in structure and high in stability, the cost is reduced, ammonia gas and tail gas can be fully mixed, and the mixing time can be shortened; and the gas mixing efficiency is greatly improved, and the tail gas treatment effect is ensured.