The invention discloses an elastic torque sensor. The elastic torque sensor comprises an outer sensor ring, multiple elastic bodies, an inner sensor ring, inner ring strain gauges, connection beams, a connection beam strain gauge and a center base, wherein the multiple elastic bodies are uniformly distributed circumferentially, two ends of the multiple elastic bodies are respectively connected with the outer sensor ring and the inner sensor ring, each elastic body comprises two symmetric elastic body units, the connection beams are uniformly arranged between the inner sensor ring and the center base, surfaces of the connection beams are bonded with the connection beam strain gauge, and upper and lower surfaces of the inner sensor ring are respectively bonded with the inner ring strain gauges uniformly. According to the elastic torque sensor, the peripheral elastic bodies have filtering effects on impact, so short-time impact exerted on the inner torque sensor can be greatly reduced, compared with a traditional torque sensor manufactured by the same material, the elastic torque sensor provided by the invention has remarkable small volume and light weight, moreover, the strain gauge is employed, so use cost can be greatly reduced compared with a commercial torque sensor.