A handheld massage device includes an actuator mechanism and a massage unit received in an outer housing. The actuator includes a motor, a bearing and a tilting piece having a first shaft coupled with the motor and a second shaft fitted into the bearing. The crank-shaped first and second shafts do not lie on a straight line. The massage unit has a base plate and massage elements mounted on the base plate. The massage elements protrude from one end of the outer housing. The bearing is fitted in the base plate. Because the first and second shafts form an angle therebetween, the base plate is tilted and swings like a conical pendulum. Therefore, the massage elements on the base plate move back and forth along a direction of an axle of the motor, thereby providing kneading and percussion massages on the users body.
