The invention relates to a five-degree-of-freedom passive flexible docking mechanism, which comprises a three-degree-of-freedom adaptive adjustment platform and a two-degree-of-freedom adaptive adjustment platform, wherein the three-degree-of-freedom adaptive adjustment platform comprises a base holding plate, a ball hinge support seat, a cage, ball bearings, a snap ring, a central shaft baffle, and a central shaft, and the central shaft sequentially penetrates through the ball hinge support seat, the cage, the base holding plate and a central hole of the central shaft baffle; the snap ring is clamped at the lower end part of the central shaft, and the ball bearings are retained between the ball hinge support seat and the base holding plate by the cage; the two-degree-of-freedom adaptive adjustment platform comprises a ball hinge base, a stopper, rolling bodies, and a ball-crown body, and the ball hinge base is arranged on the ball hinge support seat; the stopper is arranged between the ball hinge base and the ball hinge support seat, and the ball-crown body is arranged in a mounting cavity of the ball hinge base; and the rolling bodies are respectively retained between the ball-crown body and the ball hinge base at intervals.