The invention discloses a robot three-degree-of-freedom wrist device. The robot three-degree-of-freedom wrist device comprises flange plates, connecting rods, supporting rods, cross shafts, cylindrical straight gears, driving bevel gears, driven bevel gears, side plates, surrounding plates, guide wheel sets, a first steel wire rope, a second steel wire rope, a third steel wire rope, a fourth steelwire rope, a first motor, a harmonic reducer, a motor frame and rotating holes, wherein the guide wheel sets are fixedly connected to the outer walls of the surrounding plates in a distributed mode;and the side plates are symmetrically and fixedly connected to the inner walls of one sides of the surrounding plates. The robot three-degree-of-freedom wrist device is simple in structure and convenient to use; through cooperative use of the cross shafts, the cylindrical straight gears, the driving bevel gears, the driven bevel gears, the guide wheel sets, the steel wire ropes, the first motor and the harmonic speed reducer, the structure is simple; and through user-friendly appearance structural design, pitching, deflection and rotary motion of the wrist device are achieved, the flexibilityand the operation space of the robot wrist device are improved, and use is convenient.