The invention discloses an axis torque sensor. The sensor comprises a sensor main body and a protective shell, a first joint is fixedly mounted at one end of the sensor main body, a second joint is fixedly mounted at the other end of the sensor main body, a telescopic groove is formed in the outer surface of the second joint, a top plate is movably connected to the interior of the telescopic groove, a limiting plate is fixedly mounted at the position, located in the telescopic groove, of one end of the top plate, the inner wall of the telescopic groove is fixedly connected with a spring, the outer surface of one side of the sensor main body is fixedly connected with a connecting wire, one end of the connecting wire is fixedly connected with a sensing connector, the protective shell is fixedly installed on the outer surface of the sensor main body, and one end of the spring is fixedly connected with the limiting plate. The safety of the sensor can be improved, the service life of the sensor is prolonged, the sensor can be conveniently installed and used, the using effect of the sensor is improved, and practicability is achieved.