The invention discloses a compound driven shoulder joint. The compound driven shoulder joint comprises a cross shaft, a movable hinge frame and a fixed hinge frame, and a swing driving part and a pitching driving part for respectively driving the movable hinge frame to swing and pitch; the movable hinge frame is rotationally matched with a first shaft body of the cross shaft; a second shaft body of the cross shaft is rotationally matched with the fixed hinge frame; the swing driving part and the pitching driving part both adopt a memory alloy drive and electric drive combination driving mode; and in a swing driving mode and a pitching driving mode, the precise driving of single motor at low load can be realized, and the heavy-load and high-precision combination driving of memory alloy drive and electric drive synchronous driving at heavy load also can be realized.