The invention discloses a robot joint rotating hydraulic cylinder with torque and angle feedback functions. The robot joint rotating hydraulic cylinder comprises an open type sealed hydraulic oscillating cylinder, a torque sensing module and an angular displacement sensing module, wherein the open type sealed hydraulic oscillating cylinder comprises an oscillating cylinder output shaft, an elastic retainer ring, a bearing, a shaft sleeve, an outward leakage radial O-shaped sealing ring, an outward leakage O-shaped polytetrafluoroethylene ring, an open type cylinder cover, a leakage axial O-shaped sealing ring, a cylinder body, a fixed blade, a movable blade, an inward leakage polytetrafluoroethylene bar, an inward leakage sealing bar and an oil inlet and outlet channel connecting piece; the torque sensing module comprises an elastic shaft coupling, a torque detection shaft, a strain gauge, a torque detection signal line, a torque transmission flange, a torque transmission and support dual-purpose flange and a larger leg; the angular displacement sensing module comprises a shaft coupling, an encoder bracket, an encoder and a smaller leg. The hydraulic cylinder can provide large torques, is simple in structure, and is easy and convenient to control. Meanwhile, a modular structure is adopted, thereby realizing torque feedback and angle feedback functions.