The invention discloses a foot structure of a flexible-legged robot with double cavity air bag toes, which relates to the technical field of the robot. The foot structure is connected with legs of the robot. The foot structure mainly includes a crus pedestal, which is fixedly connected with an arch part. The top portion of a fixed rod is fixedly connected with the arch part, and the bottom portion is set in a limiting base, whose bottom surface is fixedly connected with the sole. A plate rubber module is connected between the arch part and a toe board by a glue line, and the double cavity air bag is connected with the bottom surface of toe board by the glue line. One side of inner connection board is connected with sole in hinge mode, and one side of the outer side is connected with the toe board in hinge joint mode. The double cavity air bag has compressed air and has the function of cushion when robots are walking. When the foot of a robot carries load, the air bag is out of shape and the grounding area is enlarged, and the airbag can adapt to the uneven pavement by making adaptive deformation, so that the stability of robot walking is further improved. The foot structure of a flexible-legged robot with double cavity air bag toes improves the ability of anti subsidence and anti sliding of the robot foot, so that the robot can walk stably and efficiently in the soft soil.