The structure of mirror $^{14}$C and $^{14}$O nuclei has been studied in the framework of the five-particle model (three $alpha$-particles and two nucleons). Interaction potentials are proposed, which allowed the energy and radius of $^{14}$C nucleus, as well as the energy of $^{14}$O one, to agree with experimental data. On the basis of the variational approach with the use of Gaussian bases, the energies and wave functions for five-particle systems under consideration are calculated. The charge radius of $^{14}$O nucleus, as well as the charge density distributions and the form factors for both nuclei, are predicted.