To implement a set of universal quantum logic gates based on non-Abelian geometric phases, it is a conventional wisdom that quantum systems beyond two levels are required, which is extremely difficult to fulfill for superconducting qubits and appears to be a main reason why only single-qubit gates were implemented in a recent experiment [A. A. Abdumalikov Jr. et al., Nature (London) 496, 482 (2013)]. Here we propose to realize nonadiabatic holonomic quantum computation in decoherence-free subspace on circuit QED, where one can use only the two levels in transmon qubits, a usual interaction, and a minimal resource for the decoherence-free subspace encoding. In particular, our scheme not only overcomes the difficulties encountered in previous studies, but also can still achieve considerably large effective coupling strength, such that high fidelity quantum gates can be achieved. Therefore, the present scheme makes realizing robust holonomic quantum computation with superconducting circuits very promising.