We present a novel method to judge the entanglement of two-qubit system, the density matrix of a two-qubit system can be constituted by the principle density matrix ρpρp and the separable density matrices ρ1–ρ4. The necessary and sufficient conditions for the two-qubit system, the three involved coefficients pp≥ 0, p1≥ 0, p2≥ 0, and the principal density matrix ρp being separable, then the two-qubit system is separable, otherwise the two-qubit system is entangled. Finally, the criterion for several known density matrices have been verified in this way.