The municipal waste sorting system includes a sorting guide rail frame and garbage collecting boxes arranged on two sides of the sorting guide rail frame, a first recycling bin disposed on a tail of the soiling guide rail frame and a second recycling bin in communication with the first recycling bin. A garbage discharge pipe is connected with an end head portion of a front end of the sorting guide rail frame and discharges the garbage into the sorting guide rail frame. A guide rail assembly is arranged on an upper portion of the sorting guide rail flame to transport garbage. A first sorting manipulator assembly, a second sorting manipulator assembly and a third sorting manipulator assembly are arranged on the sorting guide rail frame to screen the garbage to the garbage collecting boxes.