The invention discloses a multi-degree-of-freedom double-nozzle crawler moving type 3D printing device which comprises a crawler base, a multi-degree-of-freedom mechanical arm, a moving guide rail and a 3D printing nozzle. A round hole is formed in an upper shell of the crawler base, a steering engine output shaft is reserved on the multi-degree-of-freedom mechanical arm, and a steering engine is fixedly connected with the round hole. A steering engine at the other end of the multi-degree-of-freedom mechanical arm is fixedly connected with the two movable guide rails; the two moving guide rails are connected with the two 3D printing nozzles correspondingly. The movable guide rail is used for moving the printing spray head, the moving precision is high, meanwhile, due to the existence of a fifth steering engine, printing can be conducted like compasses during circle printing, and compared with traditional 3D printing equipment, the circular arc printing precision is higher; double-nozzle printing is adopted, the double nozzles can collaboratively print the same product, the printing speed is increased, two same products can be synchronously printed, meanwhile, two-color printing can be achieved through materials of two colors, and 3D printing of two different materials can be achieved by replacing the printing nozzles.