The present disclosure provides a compact bionic eye device based on a two-degree-of-freedom electromagnetically-driven rotating mechanism, which can be used as a vision sensor of bionic robots such as humanoid robots. The compact bionic eye device includes a rotor, stator cores, windings, an angular displacement camera, a spherical hinge pressing block, a stator connector, a camera, a spherical hinge, a camera connector, a rotor connector and an outer spherical shell. According to the compact bionic eye device of the present disclosure, the rotor is driven to achieve limited rotation with pitching and yawing degrees of freedom by regulating a current of the windings of four stators. By adopting a two-degree-of-freedom of electromagnetically-driven rotating mechanism which is compact in structure, the bionic eye device of the present disclosure can achieve a human eye size, and provides important foundation for practical application of bionic eyes in humanoid robots.