A two-stage lens driving device includes a lens holder, a guiding mechanism, and an electromagnetic actuating mechanism. The guiding mechanism is joined with the lens holder for guiding the lens holder moving along an axial direction. The electromagnetic actuating mechanism includes a magnetic induction member, a first coil member, and a second coil member. The magnetic induction member is mounted on and movable with the lens holder. The first and second coil members are respectively located at two tail ends of the magnetic induction member. The first coil member, the magnetic induction member, and the second coil member are arranged linearly parallel to the axial direction. A distance between the coil members is greater than a length of the magnetic induction member along the linear direction. By applying current to one of the coil members, the magnetic induction member is driven to move between the first and the second coil members.