Wireless power transfer (WPT) systems for autonomous underwater vehicles (AUVs) are gaining traction in marine exploration due to their operational convenience, safety, and flexibility. Nevertheless, disturbances from ocean currents and marine organisms frequently induce rotational, axial, and air-gap misalignments, significantly degrading the output power stability. To mitigate this issue, this paper proposes a novel reconfigurable WPT system utilizing coaxial antipodal dual DD (CAD-DD) coils, which strategically switches between a detuned S-LCC topology and a detuned S-S topology at a fixed operating frequency. By characterizing the output power versus the coupling coefficient (P-k) profiles under both reconfiguration modes, a parameter design methodology is developed to ensure stable power delivery across wide coupling variations. Experimental validation using a 1.2 kW AUV charging prototype demonstrates remarkable tolerance to misalignment: ±30° rotation, ±120 mm axial displacement, and 20–50 mm air-gap variation. Within this range, the output power fluctuation is confined to within 5%, while the system efficiency exceeds 85% consistently, peaking at 91.56%.