The invention relates to a double-wheeled rolling and crawling hybrid moving device which comprises a double-wheeled walking part, a barrier detouring claw part and a transmission part, wherein the double-wheeled walking part is driven to move; the barrier detouring claw part is connected to the double-wheeled walking part and is capable of moving along with the double-wheeled walking part; and the transmission part is used for controlling the extension of the barrier detouring claw part. In the double-wheeled rolling and crawling hybrid moving device, the double-wheeled walking part can walkon a flat land under a certain driving. When a barrier, such as a soil slope, is encountered, the double-wheeled walking part is slowed down, the barrier detouring claw part is toppled toward the front barrier under the inertia effect, and then the barrier can be tightly grasped by a claw at the tail end of the barrier detouring claw part, and finally the double-wheeled walking part is pulled toward the barrier detouring claw part by the transmission part, thereby driving the whole device to detour the barrier and arrive at the tail end of the barrier detouring claw part, advancing at an accelerated speed, toppling the barrier detouring claw part behind the double-wheeled walking part under the inertia effect, and avoiding the influence on the normal walking of the double-wheeled walking part.