A driving device for multi-axis common-mode voice coil motor is provided, which includes a control signal processing interface and a plurality of drive-stage circuits. The control signal processing interface generates a plurality of control signals and a plurality of command signals. The drive-stage circuits receive the control signals and the command signals respectively; each of the drive-stage circuits is connected to one end of one of the coils of a voice coil motor and includes a half-bridge switch circuit; the drive-stage circuit controls the half-bridge switch circuit to generate a driving current to drive the coil according to the control signal. The drive-stage circuit compares the feedback signal of the feedback elements of the coil loop with the command signal to generate an adjustment signal and adjusts the driving current according to the adjustment signal, such that the driving current can track the command signal.