The present invention discloses a distributed active/passive hybrid cable drive system, including a direct current motor, a magnetorheological actuator module, and a drive gear set. The direct current motor provides power for the system, the magnetorheological actuator adjusts output, a cable is driven to move by using a reel fixedly connected to an output shaft, the power is transmitted to a tail end by using the cable along a Bowden cable, and the tail end is connected to a controlled object, to implement control. The distributed active/passive hybrid cable drive system can implement controllable force output with large torque, small inertia, and high bandwidth, and has a small volume, high efficiency, and low costs compared with a pure motor drive system.