A multi-stage lens driving device for driving an optical lens so as to perform the functions of zooming and/or focusing comprises: a front cover, a rear cover, a plurality of yokes, a plurality of driving coils, a lens seat, and a plurality of permanent magnets. The front cover is a hollow annular cover having a plurality of recesses formed on an inner periphery thereof and a plurality of holders on an outer periphery thereof. The rear cover can be combined with the front cover, thereby forming a receiving space therebetween. The lens seat is a hollow housing disposed in the receiving space. The yokes are provided in the recesses formed on the inner periphery of the front cover. The permanent magnets are surrounding and embedded in an outer periphery of the lens seat, disposed in correspondence to the yokes and spaced therefrom by a predetermined distance. The driving coils are provided respectively on the holders of the front cover, and correspond respectively to the yokes received in the recesses. When predetermined impulse currents of different directions are applied to the driving coils respectively, polarities of corresponding yokes are reversed, respectively. By virtue of magnetic attraction between the permanent magnets and the yokes, rotation of the lens seat in the receiving space is converted to linear axial translation.