The invention relates to the technical field of multi-freedom-degree joints, in particular to a two-freedom-degree joint structure. The two-freedom-degree joint structure comprises a U-shaped fixed plate, a U-shaped connecting plate, a first-freedom-degree mechanism and a second-freedom-degree mechanism arranged on the U-shaped connecting plate, wherein the U-shaped fixed plate and the U-shaped connecting plate can rotate oppositely. A bottom plate of the U-shaped fixed plate and a bottom plate of the U-shaped connecting plate are arranged oppositely. A first side plate of the U-shaped connecting plate is connected to the inner side of a first side plate of the U-shaped fixed plate through the first-freedom-degree mechanism. A second side plate of the U-shaped connecting plate is rotationally connected to the inner side of a second side plate of the U-shaped fixed plate. The two-freedom-degree joint structure is simple in structure, reasonable in design, convenient to mount, use and control, high in universality and practicability, long in service life and convenient to use and popularize.