The axial distribution of initial velocity and direction angle of double-layer prefabricated fragments after an explosion were investigated via an explosion detonation test. A three-stage detonation driving model of double-layer prefabricated fragments was proposed. In the three-stage driving model, the acceleration process of double-layer prefabricated fragments is divided into three stages: “detonation wave acceleration stage”, “metal–medium interaction stage” and “detonation products acceleration stage”. The initial parameters of each layer of prefabricated fragments calculated by the three-stage detonation driving model of double-layer prefabricated fragments fit well with the test results. It was shown that the energy utilization rate of detonation products acting on the inner-layer and outer-layer fragments were 69% and 56%, respectively. The deceleration effect of sparse waves on the outer layer of fragments was weaker than that on the inner layer. The maximum initial velocity of fragments was located near the center of the warhead where the sparse waves intersected, located at around 0.66 times of the full length of warhead. This model can provide theoretical support and a design scheme for the initial parameter design of double-layer prefabricated fragment warheads.