This article proposes a novel structure of consequent pole dual rotor permanent magnet vernier machine (CPDRVM). This structure consists of dual-sided stator in which windings are placed on the stator slots and magnets placed on the inner and outer rotor slots. Operation principles of the proposed VM carried out using flux modulation theory. The Finite Element analysis is utilized in order to evaluate the effect of magnet geometry on the produced torque and power factor. The motor characteristics and performance assessment are performed numerically. Furthermore, the parametric and sensitivity analysis are used to optimize the motor geometry. The proposed VM compared with PM machine and two conventional VMs. In this regard, performance indices such as flux, cogging torque, power factor, magnet volume, torque per magnet volume, Back-EMF, losses and efficiency profiles are calculated and compared. Results evidence better performance of the proposed structure. In fact, CPDRVM could produce higher torque density than conventional VMs. In addition, high power factor is reached for suggested topology.