This paper is concerned with the characteristics of wave propagation in double-walled carbon nanotubes (DWCNTs). The DWCNTs is simulated with a Timoshenko beam model based on the nonlocal continuum elasticity theory, referred to as an analytically nonlocal Timoshenko-beam (ANT) model. The governing equations of the DWCNTs beam consist of a set of four equations that are derived from the variational principle of the beam with high-order boundary conditions at the both ends, in which the effects of the nano-scale nonlocality and the van der Waals interaction between inner and outer tubes are inclusive. The characteristics of the wave propagation in the DWCNTs beam were analyzed with the new ANT model proposed and the comparisons with the partially nonlocal Timoshenko-beam (PNT) models in publication were made in details. The results show that the nonlocal effects of the ANT model proposed in the present study on the wave propagations are more significant because it is in stronger stiffness enhancement to the DWCNTs beam.