The invention provides a subminiature integrated servo joint. The subminiature integrated servo joint comprises a subminiature harmonic reducer, a hollow torque motor, a drive unit, a housing, an output acquisition shaft, a pressing plate and a blanking cap. A steel wheel a, a steel wheel b and a roller in the subminiature harmonic reducer form a roller bearing and steel wheel integrated structure, a cam is mounted on the output acquisition shaft in a sleeving manner, the cam and a motor shaft adopt an integrated structure, a motor rotor is installed on the cam, a motor rotor is installed in the housing, and the upper end face of the housing is fixedly connected with the steel wheel a. The drive unit comprises a drive control plate, a coded disc and a coded disc installation plate, the coded disc installation plate is installed at the lower end of the output acquisition shaft, the coded disc is installed on the coded disc installation plate, the pressing plate is installed on the housing, a cylinder boss is machined in the pressing plate to install the drive control plate, and the blanking cap is fixed at the lower end of the housing. The diameter of the servo joint is the diameterof the harmonic reducer, the size is smaller, the structure is simpler, and the mass is lower.