When optimizing a mechanical device, the symmetry principle provides important guidance. Minimum gearbox mass and maximum gearbox efficiency are two single objectives that need to be achieved when designing a gearbox, and they are not compatible. In order to address the multi-objective optimization (MOO) problem with the above single targets involved in building a two-stage helical gearbox with second-stage double gear sets, this work presents a novel application of the multi-criteria decision-making (MCDM) method. This study’s objective is to identify the best primary design elements that will increase the gearbox efficiency while lowering the gearbox mass. To carry this out, three main design parameters were selected: the first stage’s gear ratio and the first and second stages’ coefficients of wheel face width (CWFW). Furthermore, a study focusing on two distinct goals was carried out: the lowest possible gearbox mass and the highest possible gearbox efficiency. Furthermore, the two stages of the MOO problem are phase 1 and phase 2, respectively. Phase 2 solves the single-objective optimization issue to minimize the difference between variable levels and the MOO problem to determine the optimal primary design factors. To solve the MOO problem, the EAMR (Evaluation by an Area-based Method of Ranking) method was also chosen. The following are important features of this study: First, a MCDM method (EAMR technique) was successfully applied to solve a MOO problem for the first time. Secondly, this work explored the power losses during idle motion to calculate the efficiency of a two-stage helical gearbox with second-stage double gear sets. This study’s findings were used to identify the optimal values for three important design variables to design a two-stage helical gearbox with second-stage double gear sets.