A biaxial torque measuring device includes a base and two torque sensing shafts. The torque sensing shafts are disposed on the base, wherein one of the torque sensing shafts is axially parallel to a surface of the base, the other torque sensing shaft has an angle relative to the surface of the base, the angle is greater than 0 degree and smaller than 180 degrees, and each of the torque sensing shafts has a sensing portion for sensing a torque value.