In the wireless power transfer (WPT) system of electric vehicles, the magnetic shielding performance often comes at the expense of the transmission efficiency. How to maintain high transmission efficiency while reducing magnetic leakage is a challenge. For this reason, this paper proposes a double-layer passive magnetic shielding coil structure for an electric vehicle WPT system. First, a leakage optimization method is given, and the optimal parameters for each shielding coil are obtained with this method. Second, according to the obtained coil parameters, a WPT system with magnetic shielding for electric vehicles is developed. The correctness of the proposed structure and method is verified by simulation and experiment. Finally, when the system output is 4 kW, the proposed shielding structure not only reduces the maximum leakage field in the target area by 54.64%, but also has a transmission efficiency of 94.8%.