Rapid drug delivery is critical in emergency medical circumstances where delays can result in adverse or life-threatening outcomes. The sublingual route holds significant promise for the swift systemic delivery of drugs, but is limited by slow passive diffusion mechanisms that hinder efficient drug transport. To address these challenges, we introduce here a novel sublingual microrobotic pill platform designed for rapid and efficient drug delivery. Our system incorporates magnesium-based microstirrers that accelerate pill disintegration and drug release an active propulsion mechanism. Such bubble-propelled microstirrers generate strong hydrodynamic flows, enhancing local mixing and drug transport, allowing them to overcome the limitations of traditional diffusion-dominated delivery systems. Optimized through studies, this platform demonstrated robust motion capabilities in complex human saliva and accelerated drug release kinetics. In a rabbit model, using epinephrine as the model drug, the sublingual microrobotic pill achieved significantly faster drug delivery speed, efficiency, and bioavailability compared to a conventional pill. Moreover, when compared against the gold standard intramuscular injections, the microstirring pill provides competitive delivery speed and enhanced absorption profile, demonstrating its potential for use in the treatment of conditions like anaphylactic shock. Such user-friendly, non-invasive sublingual microrobotic pills can be readily employed for delivering a wide range of drugs, offering a versatile solution for acute conditions requiring rapid therapeutic onset or when enteral absorption is not feasible.