The utility model provides a two-way memory alloy bionic muscle fiber which comprises a two-way memory alloy wire, an outer sleeve spring, a first connecting terminal and a second connecting terminal,the first connecting terminal is composed of a metal pipe, a first insulating outer sleeve and sealant, and the second connecting terminal is composed of a second insulating outer sleeve and sealant.The outer side of the two-way memory alloy wire is wrapped with an outer sleeve spring, the outer sleeve spring is composed of a middle spiral spring body and direct spring bodies on the two sides, and the surface of the middle spiral spring body of the outer sleeve spring is covered with an insulating coating. The direct spring at one end of the outer sleeve spring is connected with the metal tube, and the outer side of the direct spring is wrapped with the first insulating outer sleeve and coated with the sealant to be connected with a driven object; and the direct spring at the other end of the outer sleeve spring wraps the second insulating outer sleeve and is coated with the sealant so as to be connected with a driven object. The two-way memory alloy bionic muscle fiber solves the problems of insufficient strength and rigidity of the bionic muscle fiber.