Sameroff’s transactional theory emphasizes a bidirectional process between parents and offspring. The present study explored the reciprocal relationships between parental and adolescent depressive symptoms using a cross-lagged model and examined the mediating effect of nurturant–involved parenting on the relationship between them. Data for the present study were collected from a longitudinal study, and a total of 1644 adolescents and their mothers and fathers participated in the present study. The results revealed a reciprocal relationship between maternal and adolescent depressive symptoms, and the child-driven effect was more robust than the mother-driven effect. Adolescent depressive symptoms significantly predicted paternal depressive symptoms, but not vice versa. In addition, adolescent depressive symptoms indirectly predicted maternal and paternal depressive symptoms by deteriorating nurturant-involved parenting. These findings highlight a child-driven effect on parents’ psychopathology, which may shed light on the mechanism underlying depression transmission between parents and adolescents.