The invention provides an angular bevel gear mechanism. In the angular bevel gear mechanism, a driving wheel and a driven wheel form a driving pair; axial lines of the driving wheel and the driven wheel are crossed at any angle; the driving wheel is connected with an input shaft; the driven wheel is connected with a rotating shaft of a driven device; the driving is realized under the action of continuous mesh between driving hook levers and driven hook levers; any angle is not equal to 90 degrees; the driving wheel is provided with a plurality of driving hook levers; the driven wheel is provided with a plurality of driven hook levers; the driving hook levers are uniformly distributed on the end surface of a cylinder of the driving wheel; the driven hook levers are uniformly distributed onthe circumference of a cylindrical surface of the driven wheel; the driving wheel and the driven wheel form a pair of driving pair; and the driving wheel is driven by a motor to cause the driving hook lever to be meshed with the driven hook levers, so that the driving among any crossed shafts in space can be realized. The invention can greatly simplify the structure of a micro mechanical driving device, reduce the geometric dimensioning and the quality, improve the flexibility for operation, has low construction cost, and is convenient to be applied to the filed of micro electromechanical systems.