Quinoa (Chenopodium quinoa Willd.) provides a gluten-free food with abundant nutrition and is potential to become a major crop in future. Quinoa has a lot of unique features including the high tolerance to multiple stresses, of which the underlying mechanisms may help improve other crops. Genetic manipulation will provide powerful tools to investigate the function of key genes in regulation of quinoa development and stress responses, which will further improve quinoa planting in the fields. However, the efficient transformation system for quinoa has not been well developed yet. Here, we established two rapid and efficient transformation systems for quinoa by using hairy root and leaf agroinfiltration, which provide useful tools for quick analyses of genes function in quinoa. Hairy roots were obtained from three types of explants, including cotyledon-nod with hypocotyl, cotyledon itself, and hypocotyl pieces. Interestingly, explants of cotyledon-nod with hypocotyl showed the highest transformation efficiency at 67.9%, and cotyledon displayed medium efficiency at 42.2%, while hypocotyl with the lowest at 31.6%. We also obtained transgenic quinoa roots successfully in-vivo, which showed low efficiency, but this provides a potential method to test gene function in live plants. By using young leaves for agroinfiltration, direct injection showed a better transgenic effect compared with vacuum penetration. Overall, the transformation systems using both hairy root and leaf agroinfiltration provide efficient and convenient ways to manipulate and analyse gene functions in quinoa.