The invention discloses a robot foot sole structure with telescopic toes. The robot foot sole structure comprises a foot sole base, a plurality of toe groups, a plurality of motors and flippers, wherein the foot sole base is connected with the toe groups by hinges; the motors are fixedly connected with the foot sole base; the output end of each motor is connected with the corresponding toe group; the two adjacent toe groups are connected by the corresponding flipper. The robot foot sole structure has the advantages that the soil flowing under feet can be effectively limited under the ground grabbing action, the contact area is further increased by the flipper structure, the excessive depression of the robot feet is prevented, and a robot can more efficiently walk under the environments of soft soil and the like.