The invention provides an underactuated bridge crane double-pendulum anti-swing control method based on the active disturbance rejection technology and belongs to the technical field of bridge crane anti-swing control. The underactuated bridge crane double-pendulum anti-swing control method comprises the following steps: S1, establishing a dynamics model; S2, establishing a differential tracker and obtaining the displacement differential of a trolley; S3, designing an extended state observer; and S4, obtaining a control law. With adoption of the method, the contradiction between the swing angle and the displacement is coordinated, the control performance of the double-pendulum bridge crane can still be ensured when the system model is not precise, has external disturbance and is nonlinear,the swing angle is reduced as soon as possible and the transportation task is finished, and the system reliability and efficiency are improved.