The invention discloses a high-precision compact integrated joint structure. The high-precision compact integrated joint structure comprises a rotating shaft, a speed reducer, a motor, an integrated band-type brake, a relative encoder, an absolute encoder and a joint outer shell, wherein the rotating shaft is a hollow feed shaft, a bearing is arranged between the motor and the hollow feed shaft, and a precision bearing is arranged between the joint outer shell and the hollow feed shaft; the absolute encoder is mounted at one end, extending out of the joint outer shell, of the hollow feed shaft; and the relative encoder and the integrated band-type brake are both mounted in the motor, and the integrated band-type brake is coaxial with the motor. According to the high-precision compact integrated joint structure, the band-type brake, the internal and external encoder reading heads and a motor stator are directly mounted on the joint outer shell at the same time, the band-type brake is placed inside the motor, extra space does not need to be occupied, and the axial length of a joint is reduced; and the feed shaft is connected with the crossed roller bearing, a relative encoder coded disc and a motor input shaft are integrated, the number of parts is reduced, the weight of the joint is reduced, the compactness is improved, and the anti-overturning moment of the joint and the jointoutput precision are improved.