The invention discloses a six-freedom-degree humanoid chewing mechanism. The six-freedom-degree humanoid chewing mechanism comprises a base plate, an up-down moving platform, a front-back moving platform, a left-right moving platform, a rotary driving mechanism, a humanoid upper jaw and a humanoid lower jaw. The six-freedom-degree humanoid chewing mechanism is driven by six direct-current motors,the direct-current motors are large in starting torque and good in speed adjusting performance, smooth speed adjusting can be achieved, and the humanoid head requirements can be met. The humanoid upper jaw is fixed to a base plate, and the humanoid lower jaw is connected with the left-right moving platform. According to the up-down moving platform and the front-back moving platform, through motionof the different direct-current motors at the same speed or the different speeds, the effects of moving along the z axis, rotating along the z axis, moving along the y axis and rotating along the y axis can be achieved; and according to the left-right moving platform, the effects of moving along the x axis and rotating along the x axis can be achieved through two of the direct-current motors, thus, fix freedom degrees of the lower jaw is completed, and high-degree humanoid chewing motion is achieved. The six-freedom-degree humanoid chewing mechanism can be applied to food detection, tooth testing and other occasions, or a humanoid head robot, a service robot and other man-machine interaction situations.