The invention discloses a pneumatic type double-rotor piston driving device. The pneumatic type double-rotor piston driving device comprises a device body, a rotor assembly, a piston assembly and a gas distribution mechanism, wherein the device body is provided with accommodating cavity which is V-shaped in the axial direction; the rotor assembly has a double-rotor structure and comprises a firstrotor and a second rotor which are rotatably arranged at the two ends of the V-shaped accommodating cavity; a first cylinder and a second cylinder are separately correspondingly eccentrically arrangedin the first rotor and the second rotor; the piston assembly comprises a first piston arranged in the first cylinder, a second piston arranged in the second cylinder and a piston connecting rod of which the two ends are separately connected with the first piston and the second piston in the axial direction; the piston connecting rod has a V-shaped structure of which the phase is the same as thatof the accommodating cavity; the gas distribution mechanism comprises a gas inlet channel, a gas outlet channel and a gas distribution block; by relative sliding of the gas distribution block, the working phase of the gas inlet channel or the gas outlet channel is controlled, and thus, the gas inlet channel or the gas outlet channel communicates with the corresponding cylinders alternately; and the rotor assembly and the device body are provided with magnets or armatures, and thus, electromechanical dynamic fused design is realized.