The invention discloses an auxiliary walking device, which comprises a first rotary plate mounted on thighs of a human body, a second rotary plate mounted on calves of the human body, an angle adjusting mechanism, driving machines and an outer shell, wherein a main shaft, a first supporting shaft, a second supporting shaft, a third supporting shaft, a first circular arc hole and a second rotary plate are formed in the surface of the first rotary plate; a first mounting hole, a first rotary shaft, a second rotary shaft and a pressing part are formed in the second rotary plate; the angle adjusting mechanism comprises a rotary disc, a locking plate; and the outer shell is used for accommodating the first rotary plate, the second rotary plate, the angle adjusting mechanism and the driving mechanism. The technical scheme simplifies the structure of the traditional auxiliary walking device, the cost is reduced, the use for users is facilitated, the comfort of the users to use is improved, and the use requirements of different users are met.