The invention discloses a five-freedom active magnetic bearing type dual-axis angular rate gyroscope. The five-freedom active magnetic bearing type dual-axis angular rate gyroscope consists of rotors, a radial magnetic bearing, an axial magnetic bearing, a protection bearing, a radial displacement sensor, an axial displacement sensor, a driving motor, gyroscope cases and a circuit system. By using position feedback information of the rotors of the radial sensor and the axial sensor relative to the gyroscope cases, the circuit system regulates the coil winding current of the radial magnetic bearing and the axial magnetic bearing in real time, so that the five-freedom fully-active suspension of the rotors is realized, and the rotors are driven by the driving motor to rotate at a high speed so as to generate an angular momentum. When the attitude of an external rotor is changed, the coil winding current is correspondingly changed, and the magnitude of external input angular rate is calculated according to a linear relationship between the coil winding current and the input angular rate. The five-freedom active magnetic bearing type dual-axis angular rate gyroscope is applicable to the field of high-accuracy angular rate measurement application, and has the characteristics of small zero offset, low output noise, high resolution and the like.