The invention provides a driving leg mechanism for a footed robot, belonging to the technical field of footed robots. The driving leg mechanism comprises a leg support, a thighbone, a thigh forward swing cylinder, a thigh front stay cable, a thigh front pulley, a crus front pulley, a crus front stay cable, a crus forward swing cylinder, a joint mat, a focile, a ball-shaped foot, a crus rear stay cable, a crus backswing cylinder, a crus rear pulley, a thigh rear pulley, a thigh rear stay cable, a thigh backswing cylinder, a knee-joint pillar and a hip joint pillar, wherein the leg support is hinged with the hip joint pillar to form a hip joint, the upper end of the thighbone is fixedly connected with the hip joint pillar, the joint mat is arranged at the lower end of the thighbone and is hinged with the knee-joint pillar, a knee joint is composed of the thighbone, the joint mat and the knee-joint pillar, the upper end of the focile is fixedly connected with the knee-joint pillar, and the lower end of the focile is fixedly connected with the ball-shaped foot. The driving leg mechanism has the advantages of compact structure, light weight, low energy consumption, capability of realizing rapid joint movements, stable carrying capacity, large foot end movement space, good buffering performance and long service life.