The invention discloses a hydraulic lasso drive device used for assisting exoskeletons. The hydraulic lasso drive device used for assisting the exoskeletons comprises a support, an integration hydraulic actuator, clamp heads and lassos. The integration hydraulic actuator comprises secondary electro-hydraulic servo valves and an integration cylinder body. Piston cavities arranged parallel to one another are arranged in the lower portion of the integration cylinder body. Through holes communicated with the piston cavities are formed in the top end of the integration cylinder body. The through holes at the top end of the integration cylinder body are provided with sealing front end covers. Sealing back end covers are arranged on the bottoms of the piston cavities. A hydraulic actuating unit is arranged in each piston cavity. Each hydraulic actuating unit is corresponding to a secondary electro-hydraulic servo valve, a clamp head and a lasso and comprises a piston rod, a sealing part, a dust proof ring and a piston rod combination seal part. The clamp heads are connected with the bottom ends of the piston rods. The lassos are fixedly arranged on the clamp heads. The hydraulic lasso drive device not only solves the arrangement problem of a complex oil way of a hydraulic drive exoskeleton system, but also overcomes the problem that inertia force of all joints of the exoskeletons is large.