The invention relates to a lower limb rehabilitation training machine. The lower limb rehabilitation training machine comprises an outer frame, two ankle exercising mechanisms, two parallelly arranged leg extension mechanisms, two knee joint exercising mechanisms, two hip joint exercising mechanisms, an adjustable backrest mechanism and a controller, wherein the ankle exercising mechanisms, the leg extension mechanisms, the knee joint exercising mechanisms and the hip joint exercising mechanisms are in one-to-one correspondence; each ankle exercising mechanism is connected with the lower portion of the corresponding leg extension mechanism, and the upper portion of each leg extension mechanism is hinged to the front edge of the seat plate of the adjustable backrest mechanism; the knee joint exercising mechanisms are mounted on the outer frame, and the power output end of each knee joint exercising mechanism is connected with the corresponding leg extension mechanism; the two hip joint exercising mechanisms are mounted on the outer frame; the ankle exercising mechanisms, the knee joint exercising mechanisms and the hip joint exercising mechanisms are electrically connected the corresponding pins of the controller. The lower limb rehabilitation training machine has the advantages that labor input is reduced, and the three joints of legs can be passively and safely exercised at home.