The invention relates to a flexible direct-drive type steering rack, which uses a flexible beam to enable a structure to be flexible. Left and right lateral racks easily do relative nodding movement, so as to be applicable to a triangular pit with a larger rail. The structure is flexible so that a series of suspension can be simplified to a very thin layer of rubber cushion, and the production cost is reduced; an elasticity transmission device is elastically suspended through a permanent magnet motor, so that the torque can be transmitted, the transmission efficiency can be improved, and the weight of a transmission mechanism can be reduced; a traction force and a braking force can be directly transmitted to a car body instead of the structure of the steering rack, and the stress condition of the structure of the steering rack is optimized; meanwhile, the length of a traction rod is not limited by the structure, so that the traction rod can be longer, the secondary addition rigidity brought by the traction rod can be reduced, and the riding comfort degree of a vehicle can be improved. A motor is suspended between wheel pairs, so that a shaft distance can be reduced. Therefore, the steering rack not only can have higher critical speed through a smaller curve, but also has good submissiveness on route irregularity.