The invention, which belongs to the field of ergonomic and measurement technologies, discloses a non-invasive measurement method of a wrist joint axis motion model. The method comprises the followingthree steps: (1), motion data of a wrist joint are collected; to be specific, a flange is bound to each of a forearm and a hand respectively and four marking points are pasted to each flange to prevent mutual interference between the marking points, the flanges of the forearm and the hand are away from the wrist joint as much as possible, and the flange of the forearm is fixed on a lifting platform; (2), a wrist joint axis motion model is established; to be specific, the forearm and the hand are viewed as rigid bodies, and a two-freedom-degree spatial connecting lever mechanism is established;and (3), a wrist joint motion axis pose is calculated; to be specific, on the basis of the collected wrist joint motion data, a spatial vector closed-loop equation is constructed and parameters of the wrist joint axis motion mode are optimized by using an matlab optimization tool box. With the method provided by the invention, an axis pose of the wrist joint motion at a certain time is obtained accurately; and a theoretical basis is provided for an artificial limb design and a design of a wrist joint rehabilitation device.