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This utility model relates to the field of assistive walking robot technology and discloses an intelligent assistive walking exoskeleton robot, including an adjustable waist wearing device, thighs, joints, and lower legs. The adjustable waist wearing device has two axially symmetrically distributed thighs at its bottom. The two thighs are rotatably connected to the side wall of the adjustable waist wearing device. The bottom of the thighs is provided with joints, and the bottom of the joints is provided with lower legs. The top of the lower legs is rotatably connected to the joints. This exoskeleton robot has a simple structure, is easy to adjust, and can greatly improve the wearing experience, improve wearing comfort, and improve the walking assistance effect.