A multi-joint turning axle structure includes a driving joint assembly, a torsion joint assembly each including two opposing joint plates and at least one link unit connected therebetween. A driven joint assembly is disposed between the two opposing joint plates of one of the driving joint assembly and the torsion joint assembly, and includes two driven plates. The two driven plates have synchronous actuating portions at opposing ends thereof to form a synchronous motion. The inner ends of the joint plates of the driving joint assembly and the torsion joint assembly are respectively aligned with the outer ends of the driven plates. The outer ends of the link unit are aligned with the inner ends of the driven plates. Under a torsion function, the opposing joint plates of the driving joint assembly and the torsion joint assembly can be turned smoothly through multiple turning centers.