The present invention discloses an echo elimination device and method for a miniature hands-free voice communication system. The system comprises a receiver, a primary transmitter and an auxiliary transmitter, a distance from the primary transmitter to the receiver being greater than that from the auxiliary transmitter to the receiver. The device comprises an array echo elimination unit, a self-adaptive echo elimination unit and a residual echo elimination unit, which are structurally cascaded in turn. The array echo elimination unit, with inputs being a signal of the primary transmitter and a signal of the auxiliary transmitter, performs array filtering to obtain one path of output signals; the self-adaptive echo elimination unit, with the input signals being a signal of the receiver, the output signal of the array echo elimination unit and a signal of the auxiliary transmitter, performs self-adaptive filtering to obtain two paths of output signals; the residual echo elimination unit, with the input signals being the two paths of output signals of the self-adaptive echo elimination unit, performs voice probability estimation and echo matching to obtain an echo-eliminated voice signal. Thus, the duplex performance can be enhanced, and the phase consistency of the transmitters is not strictly required.