The present application relates to the technical field of mechanical arm, provide a kind of flexible joint and mechanical arm, comprising: frame body, rotating first rotating table being disposed on the frame body around predetermined axis, motor being disposed on the frame body and having output shaft, second rotating table being disposed on the output shaft, and
torsion spring;The output shaft rotates around the predetermined axis;In the extension direction of the predetermined axis, the first rotating table and the second rotating table are spaced apart, the
torsion spring is arranged between the first rotating table and the second rotating table, the first rotating table is provided with first clamping slot, the second rotating table is provided with second clamping slot, the first clamping slot and the second clamping slot are respectively spaced apart between the predetermined axis, the first end of the
torsion spring is clamped in the first clamping slot, and the second end of the torsion spring is clamped in the second clamping slot.