In this paper, a novel direct-drive double rotor Vernier panent magnet (DR-VPM) machine is proposed and analyzed. The key of the design is to incorporate two concentric rotors and the Vernier structure within one permanent magnet (PM) machine, while keeping the machine volume and slot number unchanged. The main merits of this proposed machine are its compact structure, improved torque density, reduced stator end winding length, and reduced copper loss. The operating principle of the machine is discussed and its steady and transient performances are analyzed using circuit-field-motion coupled time-stepping finite element method (CFM-TS-FEM). A dual-excitation PM Vernier (DE-VPM) machine and a single outer rotor PM Vernier (SR-VPM) machine are designed and compared with this proposed Vernier PM machine using CFM-TS-FEM. Comparison results as reported are used to confirm and validate the advantageous performance of the proposed machine. ; Department of Electrical Engineering