The invention relates to a multifunctional robot wrist with a replaceable end actuator. The multifunctional robot wrist is aimed at solving the problems that in the prior art, most robot wrists are connected with end actuators, so that the function that one wrist drives various end actuators can not be achieved, manufacturing cost is high, and using is inconvenient. The multifunctional robot wrist comprises an outer power output mechanism, a middle locking and unlocking mechanism, an inner power output mechanism and a tool mechanism. The outer power output mechanism and the middle locking and unlocking mechanism are sequentially arranged on the inner power output mechanism from outside to inside in a sleeving mode. The tool mechanism is installed at the power output end of the outer power output mechanism, the power output end of the middle locking and unlocking mechanism and the power output end of the inner power output mechanism. The multifunctional robot wrist is applied to the field where end actuators need to be replaced and actuators need to be locked.