To address the issues of misalignment and unstable transmission power and efficiency in complex environments for Autonomous Underwater Vehicle wireless charging systems, a magnetic induction coupling wireless charging system featuring high misalignment tolerance is proposed. The magnetic core and coil structures are designed to optimize the magnetic path. Compared with existing systems, it has better space efficiency, magnetic field control, and anti-misalignment performance. A compensation network for the system is selected based on anti-misalignment performance. The constant current output performance is evaluated through controlled source model. The ZVS method is applied in parameter design to minimize extra losses. Simulation results show that the wireless charging system maintains coupling coefficient attenuation within 20% for lateral offsets of 20 mm and longitudinal offsets of 15 mm, and within 15% for rotational offsets of 15°. The output current fluctuation remains within 10% when the load is increased by ten times. The magnetic coupling structure was fabricated, and the coupling coefficient attenuation remains within 25% under misalignment in all directions. The hardware experiment was conducted, with experimental results showing 83% transmission efficiency at 10 Ω load with 25 V input voltage. When subjected to maximum design-range offsets in various directions, the system maintains transmission power above 70% of its peak value while sustaining transmission efficiency exceeding 70%.