The invention discloses a kinematic inverse solving method for a six-shaft automatic drilling and dimpling machine tool comprising double C shafts. The method comprises the steps that (1) an equipment base coordinate system, all moving shaft sub-coordinate systems and a tool coordinate system are established in the six-shaft automatic drilling and dimpling machine tool, a coordinate system definition diagram is drawn, and all the sub-coordinate systems and the equipment base coordinate system are made to keep consistent in coordinate axis direction; (2) kinematic analysis is performed on the six-shaft automatic drilling and dimpling machine tool, and a forward kinematic model is established; and (3) an equation set of joint quantities is established according to a target pose and the forward kinematic model of the six-shaft automatic drilling and dimpling machine tool, a kinematic inverse solving strategy for separate solving of the joint quantities is proposed, and an analytical method and a numerical method are combined to solve all the joint quantities to obtain an inverse kinematic model. Through the method, kinematic forward/inverse solving of the six-shaft automatic drilling and dimpling machine tool can be realized, the accuracy of machine tool movement control can be guaranteed, and automatic machining of an elliptical dimple is realized.