A binocular see-through AR head-mounted display device is disclosed. Based on that the mapping relationships fc→s and fd→i are pre-stored in the head-mounted device, the position of the target object in the camera image is obtained through an image tracking method, and is mapped to the screen coordinate system of the head-mounted device for calculating the left/right image display position. Through a monocular distance finding method, the distance between the target object and the camera is real-time calculated referring to the imaging scale of the camera, so as to calculate a left-right image distance, thereby calculating the right or the right image display position. Correspondingly, the present invention also provides an information display method for a binocular see-through AR head-mounted display device and an augmented reality information display system. The present invention is highly reliable with low cost.