The invention discloses a five-degree-of-freedom exoskeleton type upper limb rehabilitation robot which comprises an upper shoulder joint rotating component, an upper rotating component, an elbow joint stretching component, a forearm rotating component, a wrist joint stretching component, an arm overall rotating component and an arm overall height regulating box, wherein the upper shoulder joint rotating component is connected with the upper rotating component; the upper rotating component is connected with the elbow joint stretching component; the elbow joint stretching component is connected with the forearm rotating component; the forearm rotating component is connected with the wrist joint stretching component; the arm overall rotating component is connected with the upper shoulder joint rotating component; and the arm overall rotating component is fixed on the arm overall height regulating box. The robot is capable of realizing the five-degree-of-freedom motion, including rotation of the shoulder joint, inner and outer rotation of upper limb, stretching of elbow joint, inner and outer rotation of forearm and stretching of wrist joint, and one-degree-of-freedom motion for height adjustment of the arm along vertical direction and is capable of promoting scientificity, flexibility and effectiveness of the rehabilitation motion.