A swinging touch massage device (100a, 100b, 100c, 100d) comprising: a housing and a swing member received in the housing; the swing member comprising a rotary motor, a reversing member and a swing rod, two opposite ends of the reversing member respectively connected with the rotary motor and the swing rod, the reversing member configured to convert a rotary motion of the rotary motor into a reciprocating swing of the swing rod; and wherein a massage protrusion is arranged at one end of the swing rod away from the reversing member, and protrudes outwardly from a surface of the housing to swing back and forth with the swing rod; wherein the reversing member is an eccentric shaft, the swing rod is a nozzle member, the nozzle member comprising a rotation fulcrum rotationally connected with the housing and a mouth structure formed on a first edge of the rotation fulcrum, the massage protrusion arranged on an opposite second edge of the rotation fulcrum; and a first portion of the eccentric shaft connected with the rotary motor, an opposite second portion of the eccentric shaft extending into the mouth structure, the eccentric shaft rotated to drive the mouth structure to move linearly back and forth, so that the whole nozzle member swings around the rotation fulcrum, wherein the swing rod comprises a sleeve having a mouth, the mouth of the sleeve is configured to receive a first vibration motor, the first vibration motor forming the second edge, wherein the first vibration motor and the sleeve are received within a soft shell of the housing, and wherein a portion of the soft shell that covers the first vibration motor and the sleeve forms the massage protrusion, wherein the soft shell integrally forms a bell-shaped cover that encircle the massage protrusion and the massage protrusion is exposed to an outside through the bell-shaped cover, and the soft shell is sleeved on a hard shell of the housing and substantially covers the hard shell. a housing and a swing member received in the housing; the swing member comprising a rotary motor, a reversing member and a swing rod, two opposite ends of the reversing member respectively connected with the rotary motor and the swing rod, the reversing member configured to convert a rotary motion of the rotary motor into a reciprocating swing of the swing rod; and wherein a massage protrusion is arranged at one end of the swing rod away from the reversing member, and protrudes outwardly from a surface of the housing to swing back and forth with the swing rod; wherein the reversing member is an eccentric shaft, the swing rod is a nozzle member, the nozzle member comprising a rotation fulcrum rotationally connected with the housing and a mouth structure formed on a first edge of the rotation fulcrum, the massage protrusion arranged on an opposite second edge of the rotation fulcrum; and a first portion of the eccentric shaft connected with the rotary motor, an opposite second portion of the eccentric shaft extending into the mouth structure, the eccentric shaft rotated to drive the mouth structure to move linearly back and forth, so that the whole nozzle member swings around the rotation fulcrum, wherein the swing rod comprises a sleeve having a mouth, the mouth of the sleeve is configured to receive a first vibration motor, the first vibration motor forming the second edge, wherein the first vibration motor and the sleeve are received within a soft shell of the housing, and wherein a portion of the soft shell that covers the first vibration motor and the sleeve forms the massage protrusion, wherein the soft shell integrally forms a bell-shaped cover that encircle the massage protrusion and the massage protrusion is exposed to an outside through the bell-shaped cover, and the soft shell is sleeved on a hard shell of the housing and substantially covers the hard shell.