The invention relates to a three-turn-one-shift decoupling ankle rehabilitation robot which comprises a machine body, a driving mechanism and a monitoring system. The machine body consists of a symmetrical series-parallel mechanism and comprises a base, a movable platform, a foot pedal and three branches for connecting the base and the movable platform, preferably, the first branch of the three branches is a PRR branch, the second branch and the third branch are CPRR branches and are symmetrically distributed relative to the bottom of the base; the pedal and the movable platform are connectedin series to form a local branch, and the whole mechanism is a 3R1T mechanism; preferably, the mechanism contained in the robot is a decoupling mechanism in kinematics, and can independently achieve dorsiflexion/phalangeal flexion, varus/valgus and pronation/supination in ankle joint movement by controlling different branches. The three-turn-one-shift decoupling ankle rehabilitation robot has a wide application range, can be used not only for ankle rehabilitation training, but also for implanting corresponding massage components on the pedals, and can also be used for family health care.