A kneading massage device includes a driving motor having a first transmission shaft and a second transmission shaft; a first gear engaged with the first transmission shaft and provided with a first transmission shank; a first rotary seat coupled with the first transmission shank, a first massage unit being disposed on the first rotary seat; a second gear engaged with the second transmission shaft and provided with a second transmission shank; and a second rotary seat coupled with the second transmission shank. A second massage unit is disposed on the second rotary seat. When the driving motor drives the first and second transmission shafts to rotate, the first and second massage units are synchronously driven and rotated.