Due to the requirements of multi-functional development of rapeseed for vegetable use, the existing rapeseed stalks harvesting machinery is insufficient, manual picking efficiency is low, and the cost is high. Combined with biological characteristics and agronomic requirements of rapeseed stalks, a self-propelled rapeseed stalks harvester was developed, which could realize self-propelled, automatic lifting, unified harvesting of stems and leaves, and complete cutting, conveying and collecting of rapeseed stalks at one time. Based on dynamics and kinematics analysis of rapeseed stalks harvest cutting, conveying and gathering phase, main factors that influencing the efficiency of the harvest were carried out, the design and parameter analysis of the cutting device, reel device, transmission device and cutting table double lifting system were carried out. The former feeding speed, cutting line speed, conveyor belt speed and rotating wheel speed were taken as factors, and the rapeseed stalks harvesting missed cutting rate, transportation failure rate and stem and leaf damage rate were taken as evaluation indexes. The quadratic regression orthogonal rotating bench test was carried out, and the comprehensive scoring method was used to determine the optimal operation parameters: forward speed was 0.56m/s, cutting line speed was 0.50m/s, the conveyor belt speed was 0.79m/s and the rotary speed was 49.70r/min. Under the optimal parameter combination, the rapeseed stalks harvesting effect was the better. The results of field experiment showed that the harvester cut the stubble in order after operation. Under the optimal combination of parameters, the rate of missed cutting was 4.28%, the rate of transport failure was 3.42%, and the damage rate of stem and leaf was 6.39%, which could meet the actual production demand of rapeseed stalks. The research result could provide reference for the structural design and optimization of rapeseed stalks harvester.