The dual-stator spoke-array vernier permanent-magnet (DSSA VPM) machines proposed in the previous papers have been proven to be with high torque density and high power factor. However, the design procedure on the DSSA VPM machines has not been well established, and there is little design experience to be followed, which makes the DSSA VPM machine design quite difficult. This paper presents the detailed DSSA VPM machine design procedure including decision of design parameter initial values, analytical sizing equation, geometric size relationship, and so on. In order to get reasonable design parameter initial values which can reduce the number of design iteration loop, the influence of the key parameters, such as rotor/stator pole combination, slot opening, magnet thickness, etc., on the performances is analyzed based on the finite-element algorithm (FEA) in this paper, and the analysis results can be regarded as design experience during the selection process of the initial values. After that, the analytical sizing equation and geometric relationship formulas are derived and can be used to obtain and optimize the size data of the DSSA VPM machines with little time consumption. The combination of the analytical and FEA methods makes the design procedure time-effective and reliable. Finally, the design procedure is validated by experiments on a DSSA VPM prototype with 2000 N . m.