The invention belongs to the technical field of robot accessories, and particularly relates to a connecting rod structure, a robot finger and a robot. In the connecting rod structure, a fixing frame, a first rod piece, a second rod piece and a connecting rod form a four-rod mechanism, and in combination with a driving assembly and an elastic piece, the active bending, straightening and passive bending motion of the four-rod mechanism can be achieved. No matter whether a linear driving piece works or not, when the second rod piece is subjected to external force, the second rod piece can swing, the elastic piece is compressed to store energy, the first rod piece is in linkage with the connecting rod, the first rod piece swings in the swinging direction of the second rod piece, and the passive bending motion is achieved. During the passive bending motion, interference between the first rod piece and a transmission rod cannot occur, and the situation that the four-rod mechanism is damaged due to the external force is reduced. After the external force is removed, the elastic piece releases energy to drive the second rod piece to reset, the first rod piece is in linkage with the connecting rod, and the straightening motion is achieved. The connecting rod structure can be applied to occasions needing two-way active motion and one-way passive motion, such as the robot finger.