The invention discloses a gear linkage structure for turtle-leg movement simulation. The gear linkage structure for turtle-leg movement simulation comprises an installation plate, a drive shaft, an inner gear ring, a planet gear, a slide pair and a guide device, wherein the side surface of the inner gear ring is fixed to the installation plate; the planet gear is arranged in the inner gear ring and engaged with the inner gear ring; the planet gear is fixed to a planet gear shaft via a bearing; the drive shaft is fixedly connected with the planet gear shaft; the drive shaft is installed on theinstallation plate via a bearing, and coaxial with a cylindrical inner gear ring; a knuckle bearing is arranged on the planet gear, and the slide pair is connected with the planet gear through the knuckle bearing; the installation plate is fixedly connected with the guide device, and the guide device is used for providing a movement fulcrum for the slide pair; and the slide pair forms contact connection with the guide device. By this, the gear linkage structure for turtle-leg movement simulation realizes simulation for turtle-leg movement through gear linkage, and is novel in structure and lowin noise during running. The invention further discloses a bionic turtle movement system.