The invention discloses a cross coupling bionic joint based on pneumatic muscles. The cross coupling bionic joint based on the pneumatic muscles comprises N layers of pneumatic muscle sets, wherein N>=2, and each layer of pneumatic muscle set is composed of an upper fixing plate, a lower fixing plate and at least three pneumatic muscles rotatably connected between the upper fixing plate and the lower fixing plate; the lower fixing plate of the N layer of pneumatic muscle set is located between the upper fixing plate and the lower fixing plate of the N-1 layer of pneumatic muscle set and fixedly connected with the upper fixing plate of the N-1 layer of pneumatic muscle set through support columns; the lower ends of the pneumatic muscles of the N layer of pneumatic muscle setpenetrate through the upper fixing plate of the N-1 layer of pneumatic muscle set and are rotatably connected to the lower fixing plate of the N layer of pneumatic muscle set; and the jointsbetween the pneumatic muscles and the fixing plates of every two adjacent pneumatic muscle sets are arranged in a crossed mode. According to the cross coupling bionic joint based on the pneumatic muscles, the pneumatic muscles used for driving are used as actuating elements, and the cross coupling bionic joint based on the pneumatic muscles has a large work space and multiple degrees of freedom, is compact in structure, and can be used for joint movement simulation, part transferring, bionic teaching and demonstration.