A massage device includes a shell configured to be inserted into a vagina along an insertion direction and a first massage module mounted in the shell. A first massage portion is provided at a middle of the shell along the insertion direction. The first massage module includes a first motor and a swinging bar. The swinging bar is rotatably connected to the shell by a pivot extending along a lateral direction of the shell, one end of the swinging bar is connected to the first motor in a transmission way, and another end of the swinging bar extends into the first massage portion of the shell. The swinging bar is swingable about the pivot under the driving of the first motor, and the first massage portion is swingable together with the another end of the swinging bar to slap on a vaginal wall around the shell.