A massage device includes a housing, a driving unit and two massage units driven by the driving unit. Each massage unit includes a planetary gear disc assembled with a universal joint, an inner gear engaged with the planetary gear disc, and a massage disc assembly disposed on a top of the inner gear and driven by the universal joint. The driving unit drives the planet gear disc to rotate and the universal joint drives the massage disc assembly to rotate, thereby providing kneading massage. The inner gear has an incline top surface. When the planet gear disc drives the inner gear to rotate, the incline top surface makes the massage balls on the massage disc assembly to move up and down, thereby providing patting massage. Thus, the massage device can produce kneading and patting massage actions.