This paper presents a novel approach to solve the multi-objective optimization problem designing a two-stage helical gearbox by applying the Taguchi method and the grey relation analysis (GRA). The objective of the study is to identify the optimal main design factors that maximize the gearbox efficiency and minimize the gearbox mass. To achieve that, five main design factors. including the coefficients of wheel face width (CWFW) of the first and the second stages, the allowable contact stresses (ACS) of the first and the second stages, and the gear ratio of the first stage were chosen. Additionally, two single objectives, including the maximum gearbox efficiency and minimum gearbox mass, were analyzed. In addition, the multi-objective optimization problem is solved through two phases: Phase 1 solves the single-objective optimization problem in order to close the gap between variable levels, and phase 2 solves the multi-objective optimization problem to determine the optimal main design factors. From the results of the study, optimum values of five main design parameters for designing a two-stage helical gearbox were first introduced.