The invention discloses a hybrid power system with a double-rotor motor. The hybrid power system comprises the double-rotor motor, a double-motor controller and an engine, wherein the double-rotor motor comprises an inner rotor motor and an outer rotor motor. An inner rotor motor shaft is controlled by a synchronizer to be connected with a first-gear gear set or a second-gear gear set or not to be connected with the first-gear gear set or the second-gear gear set. An output shaft of the outer rotor motor is connected with a reduction gear set, and the first-gear gear set, the second-gear gear set and the reduction gear set are connected with a power output shaft. The double-motor controller is connected with a winding of an inner rotor motor stator and a winding of an outer rotor motor stator through three-phase lines respectively so as to independently control an inner rotor motor and an outer rotor motor; the double-motor controller is further connected with a power battery; and an output shaft of the engine is directly connected with an inner rotor motor shaft or indirectly connected with the inner rotor motor shaft through a clutch.