An echo elimination device for a miniature hands-free voice communication system, wherein the miniature hands-free voice communication system comprises a receiver, a primary transmitter and an auxiliary transmitter, a distance from the primary transmitter to the receiver being greater than that from the auxiliary transmitter to the receiver, wherein the device comprises an array echo elimination unit, a self-adaptive echo elimination unit and a residual echo elimination unit, which are structurally cascaded in turn, the array echo elimination unit, with inputs being a signal of the primary transmitter and a signal of the auxiliary transmitter, removes a part of linear echo component and a part of nonlinear echo component in the signal of the primary transmitter, by array filtering, so as to obtain one path of output signals; the self-adaptive echo elimination unit, with the input signals being a signal of the receiver, the output signal of the array echo elimination unit and a signalof the auxiliary transmitter, removes from the output signal of the array echo elimination unit a residual linear echo component in the signal of the primary transmitter, and removes from the signal of the auxiliary transmitter a linear echo component in the signal of the auxiliary transmitter, by self-adaptive filtering, respectively, so as to obtain a first self-adaptive filter signal and a second self-adaptive filter signal; and the residual echo elimination unit, with the input signals being the first self-adaptive filter signal and second self-adaptive filter signal of the self-adaptive echo elimination unit, removes a residual nonlinear echo component in the signal of the primary transmitter, by voice probability estimation and echo matching, so as to obtain one path of output signals as an echo-eliminated voice signal; wherein, the residual echo elimination unit comprises two time-frequency transformation modules(E1,E2), a voice probability estimation module, a frequency spectrum filter module and a frequency-time transformation module, the two time-frequency transformation modules(E1,E2) being configured to perform, respectively, time-frequency transformation to the first self-adaptive filter signal to obtain a first self-adaptive frequency domain signal, and time-frequency transformation to the second self-adaptive filter signal to obtain a second self-adaptive frequency domain signal; the voice probability estimation module is configured to perform frequency domain voice probability estimation according to the amplitude of the first self-adaptive frequency domain signal and the amplitude of the second self-adaptive frequency domain signal to obtain a frequency domain voice probability signal, the frequency domain voice probability signal representing a proportion of a near-end voice signal in the first self-adaptive frequency domain signal; the frequency spectrum filter module comprises an echo matcher, a subtractor and a multiplier, the echo matcher being configured to perform echo matching to the second self-adaptive frequency domain signal according to the amplitude of the first self-adaptive frequency domain signal and the amplitude of the second self-adaptive frequency domain signal, the subtractor being configured to subtract the result of echo matching from the first self-adaptive frequency domain signal to remove the nonlinear echo component signal, the multiplier being configured to multiply the result of subtraction by the frequency domain voice probability signal to suppress the echo signal and protect the near-end voice signal; and the frequency-time transformation module is configured to perform frequency-time transformation to the result of multiplication to output a result of echo elimination.