将type设置为datetimerange即可
<el-date-picker
end-placeholder="结束日期"
range-separator="至"
start-placeholder="开始日期"
type="datetimerange"
v-model="dateRange"
:default-time="['00:00:00', '23:59:59']"
>
</el-date-picker>
效果图如下: