As large language models (LLMs) are increasingly applied across various domains, enhancing safety while maintaining the helpfulness of LLMs has become a critical challenge. Recent studies solve this problem through safety-constrained online preference optimization or safety-constrained offline preference optimization. However, the safety-constrained online methods often suffer from excessive safety, which might reduce helpfulness, while the safety-constrained offline methods perform poorly in adaptively balancing safety and helpfulness. To address these limitations, we propose MidPO, a \textbf{\underline{Mi}}xture of Experts (MoE) framework for safety-helpfulness \textbf{\underline{d}}ual \textbf{\underline{P}}reference \textbf{\underline{O}}ptimization. Firstly, MidPO devises single-preference enhanced direct preference optimization approach to transform the base model into two independent experts, termed safety and helpfulness experts, and fine-tunes the two independent experts for optimal safety or helpfulness performance. Secondly, to achieve an effective balance between safety and helpfulness, MidPO incorporates the two experts into the MoE framework and designs a dynamic routing mechanism to allocate contributions from each expert adaptively. We conduct quantitative and qualitative experiments on three popular datasets to demonstrate the proposed MidPO significantly outperforms state-of-the-art approaches in both safety and helpfulness. The code and models will be released.