The invention relates to a magnetic suspension controlled moment gyro with double frames, essentially consisting of a flywheel, an inner frame system and an outer frame system. The flywheel is arranged in the middle of the magnetic suspension controlled moment gyro with the double frames and essentially comprises a rotary shaft, a radial mixed magnetic bearing, an axial magnetic bearing, a radial displacement sensor, an axial displacement sensor, a high-speed motor and a gyro room; the inner frame system and the outer frame system essentially comprise the frames, a mechanical bearing, a moment motor, a reducer, an angle position sensor, a conductive slip ring a control system; the inner frame system is connected with a shaft hole on one end of the gyro room through the reducer and at the same time the conductive slip ring and the angle position sensor are connected with the shaft hole on the other end of the gyro room; the outer frame system is connected with a shaft hole on one end of the inner frame through the reducer and at the same time the conductive slip ring and the angle position sensor are connected with the shaft hole on the other end of the inner frame. The invention reduces noise, size and weight of the system through the mixed magnetic bearing, and eliminates bearing friction, and thus prolongs life span and promotes control accuracy of the controlled moment gyro.