To enhance the field turning efficiency of agricultural robot tractors, a dual-steering control system based on active disturbance rejection control was developed for the agricultural robot tractor. The system was designed to meet the agricultural technology requirements and driving environment. The composition and main technical parameters of the agricultural robot tractor were determined, and the hardware system was assembled, and the component selection was made. A 4-degree-of-freedom dynamics model of the agricultural robot tractor was established, and the state space equation of the turning efficiency was determined. A dual-steering control strategy based on active disturbance rejection control was proposed, and a Simulink dynamic simulation model was established, and the turning simulation was carried out. The simulation results indicated that the angular velocity of the active disturbance rejection dual-steering control model was 0.241rad/s, the turning radius was 1.96m, and the disturbance recovery time was 1.04s. Compared with the Ackermann turning control model, the active disturbance rejection dual-steering control model had a larger angular velocity, smaller turning radius, and faster recovery time. The field experimental results showed that the average lateral displacement of the agricultural robot tractor was 18.5cm, the slip rate was 4.84%, and the small-radius turning test showed that the turning radius of the double turning control agricultural robot tractor was reduced by about 0.60m and 0.57m compared with that of the Ackermann turning control, and the average turning time was reduced by 4.70s and 3.41s. In the large-radius turning test, the turning radius of the double turning control agricultural robot tractor was reduced by about 0.52m and 0.49m compared with that of the Ackermann turning control, and the average turning time was reduced by 10.27s and 8.22s.