A torsion angle and rotation angle measurement device includes an input rotation disk, an output rotation disk, at least two torsion measuring modules and a rotation measuring module. The output rotation disk is coaxially and rotatably connected with the input rotation disk. At least two torsion measuring modules are disposed between the input rotation disk and the output rotation disk. Each torsion measuring module includes a rotary variable resistor and a torsion measuring arm. The rotary variable resistor is disposed on the output rotation disk. The torsion measuring arm is pivotally connected with the rotary variable resistor at a first end thereof, and is slidably connected with the input rotation disk at an second opposite end. When the input rotation disk rotates relative to the output rotation disk, the rotary variable resistor measures an angle indicating the input rotation disk rotating relative to the output rotation disk.