Double-rotor switched reluctance machine (DRSRM) is a new type of switched reluctance machine that is composed of two rotors and one stator integrated in one machine housing, which is potentially more compact, lower cost, and enables two mechanical outputs suitable for hybrid electric transmissions. This study presents detailed design and simulation procedures of a DRSRM. Various electromagnetic design aspects are investigated to comprehensively analyse the DRSRM design. Loss analysis and thermal simulations are performed to evaluate the thermal loading, and a DRSRM drive model is built to simulate the DRSRM performance. Then a DRSRM prototype is manufactured and tested. The test results confirmed the design and simulations with good agreements.