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In order to solve the problem of high impurity rate and loss rate caused by the residual grain codes and the high moisture content in the raw material of millet after the first stripping, a roll-twist cylinder screen type of millet cleaning device was designed. The device was mainly composed of spikelet roller rubbing device, cylinder screen device, cross flow fan and centrifugal fan, which realized the function of clearing millet code first and then cleaning it. The rotating speed and angle of centrifugal fan, speed of cross flow fan, rotational speed of cylinder screen as well as the rotational speed of spikelet roller rubbing device were selected as the test factors, the impurity rate and the loss rate were taken as the test indexes for the orthogonal test. Results of orthogonal test showed that the optimal combination of the cleaning device was the rotation speed of spikelet roller rubbing device as 250r/min, the angle of centrifugal fan as 3°, the speed of small cylinder screen as 60r/min, the speed of centrifugal fan as 700r/min, the speed of medium cylinder screen as 60r/min, the speed of large cylinder screen as 70r/min, and the speed of cross flow fan as 600r/min. The combination of the parameters was tested and the cleaning performance of the device was compared, under such conditions, the impurity content was 1.64%, the loss rate was 0.86%, the impurity rate and loss rate of this device were lower than those of traditional fan cylinder screen and fan vibrating screen cleaning device.