The present invention provides a lower limb structure of multiple degrees of freedom for a biped robot, including a waist, a thigh, a lower leg, a foot. The thigh comprises a right thigh and a left thigh and the lower leg comprises a right lower leg and a left lower leg. The foot comprises a right foot and a left foot. The waist consists of a right hip joint and a left hip joint, which are connected by a waist connection board. The right hip joint and the left hip joint, the right thigh and the left thigh, the right lower leg and the left lower leg and the right foot and the left foot are symmetrical. The hip joint is connected with the thigh by a hook hinge and two connecting rods. The thigh and the lower leg are connected by a knee joint connecting rod and a knee joint shaft. The lower leg has a parallel connection with the foot via the hook hinge and two anklebone connecting rods. With the advantage of multiple degrees of freedom, the present invention can furthest realize the humanoid walking of the biped robot. The present invention has the advantages of simple structure, clear principle, economy, practicality, big carrying capacity, compact structure, low cost, small design difficult and strong feasibility, which meets the requirement of the structural design of biped robot.