Hydraulic transmission is widely used in aerospace, engineering machinery, agricultural machinery and other industries due to its large powertomass ratio, flexible control, and convenient speed control. Hydraulic motors are an important actuator, which determined the working capacity of the entire hydraulic system. In the existing axial piston motor, in order to realize multistage speed and torque output, energyconsuming components such as throttle valve and pressure reducing valve must be used to change the input pressure and flow rate, thereby reducing the efficiency. The new double swash plate multirow axial piston motor can utilize the special characteristics of its structure to achieve a variety of output torque. The structural characteristics and working principle of the motor were introduced. The theoretical instantaneous torque and torque nonuniformity coefficient of the motor under different working modes were derived. The effects of torque coefficient of the internal and external motor on torque nonuniformity coefficient was compared by Matlab. The experimental hydraulic system of the motor was designed and the construction of the experimental platform was completed, the principle experiment on the motor was carried out and the data was analyzed. The results showed that the motor can realize different speed and torque output under the rated pressure and rated displacement of the motor. As the torque coefficient ratio of the inner and outer motors were increased, the torque unevenness coefficient of the low speed and large torque was small, and the speed was high. The higher the low torque instability coefficient was, the better the design of the motor can achieve stable operation under different working conditions, verifying the feasibility of the new structure motor in principle, and providing an experimental basis for the improved design of the new axial piston motor. 