A novel compound-structure transverse-flux permanent-magnet synchronous machine (CS-TFPMSM) is proposed in this paper, which is used in hybrid electric vehicles (HEVs) to fulfill the power-split function. The key component of the CS-TFPMSM is a brushless transverse-flux dual rotor machine (TFDRM). The TFDRM originates from the transverse-flux machines, and is capable of speed adjustment between the transverse-flux rotor and the permanent-magnet rotor without using any brushes. The structure and principle of the TFDRM are described. The torque equations of the TFDRM are deduced, which are different from those of traditional machines. Based on the investigation, the TFDRM tends to have high leakage and a poor power factor. The method to obtain high power factor is discussed. The back electromotive force (BEMF) and torque of the TFDRM are simulated with the variation of parameters, such as pole-pair number, width of the permanent magnets (PMs), and so on. A prototype of a 10kW TFDRM is designed.