A self-resetting single-valve hydraulic drive device and method based on primary and secondary pistons for a push rod engine is provided. A primary driving piston and a secondary driving piston are respectively provided on a rocker arm body and a valve bridge body. The secondary driving piston is connected to an exhaust valve. A driving oil passage connects the primary driving piston, the secondary driving piston and a drive control valve. When the drive control valve opens the driving oil passage, the primary driving piston and the secondary driving piston realize a hydraulic linkage. During a drive lift, the rocker arm body and the valve bridge body do not move, and the secondary driving piston opens the exhaust valve. In the beginning of a positive-power lift, a primary piston body oil passage and a secondary piston oil passage are closed, and the secondary driving piston is automatically reset.