The invention relates to a hydraulic-electric hybrid-driven walking robot. Electro-hydraulic mechanical cylinders or hydraulic mechanical cylinders are adopted to replace traditional piston cylinders,and a hydraulic-electric hybrid-driven mode is adopted for driving. High pressure oil is provided by a constant pressure variable pump, and the high pressure oil flows into the electro-hydraulic mechanical cylinders or hydraulic mechanical cylinders to drive all joints to rotate. Each electro-hydraulic mechanical cylinder and each hydraulic mechanical cylinder are both provided with a variable pump/motor, and the motion state of each leg is controlled by adjusting the swash plate angle of the variable pump/motors. According to the hydraulic-electric hybrid-driven walking robot, the problem ofdeficiency of large energy loss in a driving system of a traditional walking robot can be solved effectively, heating of a system is reduced, and the energy utilization rate is improved.