A support structure for solar panels is comprised of two or more circular and concentric tracks or rails on which a plurality of pylons are mounted. The pylons are parallel and equipped with support wheels so as to support, through respective frames, a plurality of solar panels. The pylons rotate with respect to the common center of the concentric tracks so as to carry out a rotational movement for the azimuthal tracking (RA) of the sun (from east to west), while a plurality of actuators, which are mounted within each pylon, move one or more panels in order to obtain a rotational movement for the zenithal tracking (RZ). The combination of the two rotations is controlled by an electronic control unit, so as to follow at every moment of the day the sun's position. The support structure may be mounted on poles and can be isolated or can be installed on coverings, building roofs or generic flat surfaces.