The invention discloses a drive-driven-combined prosthesis knee and ankle joint hydraulic loop with an energy recycling function and aims to solve the problems that a drive hydraulic prosthesis systemis high in energy consumption, short in endurance time and the like. The hydraulic loop comprises a motor, a coupler, a hydraulic pump, a first energy storage device, a second energy storage device,an adjustable throttling valve, a knee joint hydraulic cylinder, an ankle joint hydraulic cylinder, a first three-position four-way proportional valve, a second three-position four-way proportional valve, a third three-position four-way proportional valve, a first pressure sensor, a second pressure sensor, a third pressure sensor, a fourth pressure sensor, a fifth pressure sensor, a sixth pressuresensor, a first pipeline and a second pipeline . The hydraulic loop has the advantages that the energy storage devices are controlled through the three-position four-way proportional valves to absorband release energy generated during human body walking, system energy consumption can be effectively lowered by further using the drive-driven-combined drive mode, the performance of lower-limb prosthesis is increased evidently, and structure simpleness and lightweight are achieved conveniently at the same time.