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In order to improve the quality of straw deep burial, a direct-injection straw deep burial method was proposed to address the problems of poor straw picking effect, single conveying method, low conveying efficiency, and low deep burial rate during the straw deep burial process. A direct injection straw picking, crushing, and deep burial machine was designed, and the overall structure and working principle were explained. Design and analysis were conducted on key components, and a nonprotective ring-type pickup device was designed. The movement stages of the pickup device and the trajectory of the tines were analyzed, and the phase angles corresponding to the four-movement stages were determined. A mechanical-conveying device consisted of straw conveying screws and blades, and a pneumatic conveying device mainly consisted of straw ejection fan blades and straw conveying ducts. The straw conveying capacity was analyzed, the straw conveying screw’s structural parameters were determined, and the straw conveying screw’s minimum speed was obtained. An analysis of straw conveying blades, straw ejection fan blades, and straw conveying ducts clarified that the key factors affecting straw transport effectiveness were machine forward speed, straw conveying screw rotational speed, straw ejection fan blades rotational speed, angle of straw conveying blades, and angle of straw ejection fan blades. The simulation experiment results showed an interaction between the machine’s forward speed and the rotational speed of the straw conveying screw. The optimal operating parameters were machine forward speed of 3km/h, straw conveying screw rotational speed of 1200r/min, and straw ejection fan blades rotational speed of 1600r/min. Field experiments were conducted on a direct injection straw picking and crushing deep burying machine. The results showed that the average straw picking rate and average deep burying rate were 91.02% and 90.03%, respectively. The range of wind speed and operating torque at the outlet of the straw conveying duct was 1.78~26.83m/s and 61.55~214.78N·m, respectively. All working components operated well, and the operating quality was stable. The experimental results met the design requirements and can achieve the operation of straw-deep burial and returning to the field, providing a basis for developing and improving straw-deep burial and returning machines.