The invention discloses a multi-DoF (Degree of Freedom) surgical instrument for minimally-invasive surgery. The multi-DoF surgical instrument comprises a handheld part, a power drive part, a thin connecting rod, a tail end execution part and a control system, wherein the power drive part is fixedly connected with the handheld part, the thin connecting rod is fixedly connected with the power drive part, the tail end execution part is connected with the thin connecting rod, and the control system controls the motion of the power drive part; both the handheld part and the power drive part are connected with the control system through lines, encoders at joints can be driven to move through the motion of the handheld part and acquire motion information of corresponding joints, then, the motion information is fed back to the control system, and the power drive part receives signals from the control system and then drives the tail end execution part to complete pitching, deflecting and gripping action. The multi-DoF surgical instrument has four degrees of freedom, namely pitching, deflecting, gripping and revolving and has relatively high dexterity degree, the quality of surgery can be effectively improved, the efficiency of surgery can be effectively increased, and the structure is small and compact.