The invention provides a high energy efficiency joint structure of a high dynamic robot. The high energy efficiency joint structure of the high dynamic robot includes a motor, a ball lead screw, a moving pair and a push rod, an output shaft of the motor is connected with the ball lead screw, the ball lead screw is connected with the moving pair, the moving pair is fixed to a slide block, the slideblock is connected with one end of the push rod, the other end of the push rod is fixed to a connecting member, and the connecting member is arranged at the lower end of the leg part of the robot; asmall gap is formed between the slide block and a shell to control the friction coefficient between the slide block and the inner wall of the shell; when the joint structure is actually installed, themotor end faces upwards, and the whole mass center moves up to enable the robot leg rotation inertia to be obviously reduced; the ball lead screw follows the motor to forward and backward rotate, therobot motion performance can be effectively improved, the ball lead screw is not provided with a rubber dust-proof ring, the motion resistance of the moving pair is reduced, the viscosity of lubricating oil is reduced, and the robot motion performance is further improved.