The invention discloses a double-manipulator ultrasonic transmission detection device for detecting defects of composite materials with large curved surfaces. The double-manipulator ultrasonic transmission detection device comprises a mechanical structure system, a hardware system and a software system, wherein the mechanical structure system comprises a high-end manipulator, a base, a workpiece motion guiding rail, a water circulation unit and a workpiece support; the hardware system comprises an industrial personal computer, an ultrasonic transducer, a pulse transmission / receiving card, a high-speed data collection card, an electronic-control cabinet and like; and the software system comprises a system management module, an ultrasonic transceiving and signal collection module, a shape and outline tracking module, a motion control module, a signal processing module, an image displaying module and a parameter setting module. The double-manipulator ultrasonic transmission detection device can be used in nondestructive testing of common defects of composite materials with large composite curve surfaces, has the advantages of being fast in detection, high in accuracy and sensitivity and like, and has good application prospect in nondestructive testing of large composite material workpieces in the fields of aerospace, automobiles and the like.