Deep reinforcement learning (DRL) has demonstrated impressive performance in medical image segmentation, particularly for low-contrast and small medical objects. However, current DRL-based segmentation methods face limitations due to the optimization of error propagation in two separate stages and the need for a significant amount of labeled data. In this paper, we propose a novel deep generative adversarial reinforcement learning (DGARL) approach that, for the first time, enables end-to-end semi-supervised medical image segmentation in the DRL domain. DGARL ingeniously establishes a pipeline that integrates DRL and generative adversarial networks (GANs) to optimize both detection and segmentation tasks holistically while mutually enhancing each other. Specifically, DGARL introduces two innovative components to facilitate this integration in semi-supervised settings. First, a task-joint GAN with two discriminators links the detection results to the GAN's segmentation performance evaluation, allowing simultaneous joint evaluation and feedback. This ensures that DRL and GAN can be directly optimized based on each other's results. Second, a bidirectional exploration DRL integrates backward exploration and forward exploration to ensure the DRL agent explores the correct direction when forward exploration is disabled due to lack of explicit rewards. This mitigates the issue of unlabeled data being unable to provide rewards and rendering DRL unexplorable. Comprehensive experiments on three generalization datasets, comprising a total of 640 patients, demonstrate that our novel DGARL achieves 85.02% Dice and improves at least 1.91% for brain tumors, achieves 73.18% Dice and improves at least 4.28% for liver tumors, and achieves 70.85% Dice and improves at least 2.73% for pancreas compared to the ten most recent advanced methods, our results attest to the superiority of DGARL. Code is available at GitHub.