A double-walled drill pipe includes an outer drill pipe, an inner drill pipe and a drill pipe sealing apparatus. The outer drill pipe includes an axial through hole and a wall surface through hole, and the wall surface through hole is disposed in a wall surface of the outer drill pipe to connect the outside of the double-walled drill pipe and the axial through hole. The inner drill pipe is rotatably disposed in the axial through hole, and includes a fluid guiding hole connected to the wall surface through hole. The drill pipe sealing apparatus is disposed between the outer drill pipe and the inner drill pipe. The drill pipe sealing apparatus is axially located between a driving end and a connecting port of the wall surface through hole connected to the axial through hole. A drilling machine including the double-walled drill pipe is also provided.