The invention provides a sensing and driving integrated rigid-flexible coupling finger and a flexible robot dexterous hand. The rigid-flexible coupling finger comprises a metacarpal bone segment, a near segment, a middle segment, a far segment, a torsion spring, a sensing and driving steel sheet, a linear motor, a pressure sensor and a flexible segment gasket. The sensing and driving steel sheet is provided with a sawtooth-shaped structure, and a resistance strain gauge is arranged on the surface of the sensing and driving steel sheet and used for detecting the bending angle of a finger joint; the flexible robot dexterous hand comprises an index finger, a middle finger, a ring finger, a little finger, a thumb, a flexible palm gasket, a direct current motor, a control module and a power module; the index finger, the middle finger, the ring finger and the little finger have the same structure as the rigid-flexible coupling finger and are connected with the flexible palm gasket; and a thumb metacarpal bone segment is connected with an index finger metacarpal bone segment through a revolute pair. The sensing and driving integrated rigid-flexible coupling finger and the flexible robot dexterous hand have the advantages of being simple and compact in structure, flexible, self-adaptive and easy to control.