The invention provides a vector propelling device for a two-shaft linkage propeller for an airship. The vector propelling device comprises an outer supporting frame, a yaw mechanism part and a pitching mechanism part. The outer supporting frame and a tail cabin or a hard tail supporting structure of the airship are connected depending on locating screw holes distributed in a side board of the outer supporting frame, so that the outer supporting frame is arranged at the tail portion of the airship. The yaw mechanism part and the outer supporting frame are fixedly connected. The pitching mechanism part is embedded in the yaw mechanism part to be fixedly connected with an inner rotary frame of the yaw mechanism part. A propeller of the pitching mechanism part rotates at a high speed synchronously along with a propelling motor, thrust is generated, the yaw mechanism part takes charge of the orientation yaw of the propeller, the pitching mechanism part takes charge of the posture adjustment of the propeller, and auxiliary propelling, yaw and pitching of the airship can be achieved synchronously. Two-shaft linkage is adopted in the vector propelling device, closed-loop control is conducted, the rotation angle is accurately controlled, the weight is reduced, an installation problem is solved, the flight risks and energy consumption are reduced, and climbing, flat flight, fixed-point flight and landing of the airship are achieved successfully.