The invention relates to an axial magnetic flux permanent magnet motor with high power density and high efficiency. The motor is of a single-stator double-rotor structure, and a stator is positioned between two rotors; the motor comprises a stator magnetic core, rotor magnetic cores, an embedded abnormally-shaped permanent magnet and a three-phase armature winding; the stator magnetic core is of adouble-sided salient pole tooth groove structure; each of the rotors comprises one rotor magnetic core and permanent magnets, the rotor magnetic core is circular ring-shaped, and the plurality of permanent magnets are embedded in the radial direction of the rotor magnetic core and are positioned inside the rotor magnetic core; on the back surface of a circular ring of the rotor magnetic core corresponding to the positions of the embedded permanent magnets, a plurality of back open grooves are formed in the radial direction of the rotor magnetic core; an area where the plurality of back open grooves are connected is defined as rotor yoke, and the magnetization directions of the plurality of permanent magnets are in the circumferential direction of the motor. The motor has a better magnetism-collected structure so as to generate higher torque; the stator magnetic core and the rotor magnetic cores can be easily made of oriented silicon steel sheets, so that the performance of the motor is further improved.