A robotic gait training system includes a femoral support unit supporting a thigh of a patient, a hip joint support unit supporting buttocks of the patient, a lower leg support unit supporting a lower leg, an ankle support unit supporting an ankle, a support fixing toe tip positioned at an ankle height of the patient in use, a toe tip pad supporting and wrapping a forefoot of the patient, a tilt sensor, a first linear actuator operation unit rotating the femoral support unit based on the hip joint unit, a second linear actuator operation unit rotating the lower leg supporting unit based on the femoral support unit, a control unit generating a functional electric stimulation (FES) control signal, and an FES unit stimulating the plantarflexor or dorsiflexor of ankle joint based on the FES control signal received from the control unit.