A motion assistance apparatus may include a power transmitting device having an input link provided to rotate with respect to a base, an output link provided to rotate with respect to the base, a first shaft connected to the input link in a direction intersecting an axial direction of the input link, a first connecting link connected to the first shaft, a second shaft connected to the first connecting link in a direction intersecting an axial direction of the first shaft, a second connecting link connected to the second shaft, and a third shaft connected between the second connecting link and the output link in a direction intersecting an axial direction of the second shaft.