The invention discloses a rolling push-rod oscillating tooth robot joint speed reducer. The speed reducer comprises planetary wheels, planetary frames, pin gear shells, inner gear rings, wave exciters, push rods and oscillating tooth carriers. The planetary wheels, the planetary frames and the inner gear rings form planetary gear transmission devices. The wave exciters, the push rods, the oscillating tooth carriers and the pin gear shells form push rod and oscillating tooth transmission devices. The planetary wheels are meshed with an input shaft. The planetary frames are connected with the wave exciters. The oscillating tooth carriers or the pin gear shells serve as rotary power output ends. Push rod and oscillating tooth transmission is applied to a high-precision robot joint speed reducer for the first time, two-stage transmission achieved through the planetary gear transmission devices and the push rod and oscillating tooth transmission devices, the transmission ratio is large, speed adjustment is convenient, the structure is compact, high positioning precision and repeated positioning precision can be kept, and the speed reducer has the advantages of being large in transmission ratio, high in transmission efficiency, high in positioning precision, high in impact resistance, simple in process, low in cost and the like, and is suitable for popularization.