The invention discloses a hydraulic biped robot lower limb mechanism with a buffering function. The hydraulic biped robot lower limb mechanism with the buffering function comprises a body support, hipjoint supporting frames arranged on the two sides of the body support, thighs hinged to the tail ends of the hip joint supporting frames, shanks hinged to the tail ends of the thighs and feet hingedto the tail ends of the shanks. Compared with the prior art, the hydraulic biped robot lower limb mechanism with the buffering function has 12 DoF (each hip joint has 3 DoF, each knee joint has 1 DoF,and each ankle has 2 DoF), so that the motion flexibility is greatly improved; hydraulic drive is adopted, so that high loading capacity and disturbance resisting capacity are achieved; damper devices are adopted, so that compliance of motion is greatly improved; the Z-shaped feet are adopted and have a certain elastic energy storage function, the front part of each foot is furcate, and then walking has a certain complex land adaptability.