A reconfigurable magnetic coupling underwater vectored thruster was designed to reduce the mechanical complexity, improve the waterproof sealing performance of micro underwater robot and ensure the flexibility of movement. Based on the non-contact magnetic coupled power transmission, the problem of waterproof between the motor and propeller was solved. Meanwhile, the reconfigurable mechanism was used to change the propeller position within two degrees of freedom, which realizes the reconfigurable vector propulsion of underwater vehicle. After establishing the magnetic field model of magnetic coupling, the correctness of magnetic field modeling was verified and the influence of reconfigurable mechanism on the magnetic torque of the magnetic coupling power transmission was analyzed by both ANSYS Maxwell magnetic field simulation and built magnetic torque measuring device. On this basis, the propeller thrust measurement device was fabricated, and the changes of rotational speed, thrust and correspondingly maximum vector thrust under different reconstruction angles were evaluated. The results show that the thruster can output the vectored force stably for the two degrees of freedom reconfigurable angles ranged between -15°and 15°.