The present disclosure provides a joint control method for a serial robot and a serial robot using the same. The method includes: performing a analysis on an end joint in the plurality of joints, and calculating the force of the previous joint acting on the end joint; performing a analysis on each of the other joints in the plurality of joints, and calculating the force of the previous joint acting on the joint; obtaining an angular velocity and an angular acceleration of each joint after obtaining the force of the previous joint acting on the joint, and calculating a torque corresponding to each joint; and projecting the torque corresponding to each joint to a motor corresponding to the joint to obtain a torque to be applied to the motor at a current time. In this manner, which improves the tracking precision of the end joint while reduces the tracking error.