The invention discloses a modular robot joint integrating driving and detecting functions. The modular robot joint comprises a speed reducer assembly adopting harmonic drive for speed reduction, a motor assembly, an encoder assembly and a speed reducer return shaft, wherein the speed reducer assembly is mounted at the left end of the motor assembly, the encoder assembly is installed at the right end of the motor assembly, and the motor assembly comprises a motor stator, a motor rotor, a motor bearing, a motor base end cover, a motor shell and a motor shaft of a hollow structure. According to the modular robot joint, the hollow structure of a frameless motor is utilized, a compact incremental and absolute double-encoder module is adopted, the angle of an output shaft of the speed reducer isreturned to the motor end for detection by designing the return shaft, integration and modular design of the driving unit are achieved, and the modular servo driving unit has the capability of simultaneously acquiring angle information of the motor rotating shaft and the reducer output shaft.