The invention provides a cable-driven six-degree-of-freedom minimally invasive surgery robot clamping device. The cable-driven six-degree-of-freedom minimally invasive surgery robot clamping device comprises a driving assembly (1), a motion control assembly (2) and an end executor assembly (3), wherein the driving assembly comprises a driving rod, a handle, a cable, reversing rollers and a rubber hose; the motion control assembly comprises a hand ring, a middle ring, an outer ring shell, a handle, a hinge, a driving pulley, a reversing pulley, a cable, a framework, a tool rod and a cross universal joint; the end executor assembly comprises a fixed gripper, a movable gripper, a torsion spring, a pulley and a cable. The end executor has six degrees of freedom and is driven by the cable, so that the movements of a doctor obtain real-time response. According to the cable-driven six-degree-of-freedom minimally invasive surgery robot clamping device, the arms and wrists can be flexibly controlled, the rotation of any angle in the human body can be realized, in addition, the structure is simple and unique, the cost is low, the practicability is strong, the safety is high, and the requirement for a minimally invasive surgical instrument by a surgical doctor can be met.