A landing mechanism-based legged mechanical cushioning device comprises an upper end cover, a direct current lead screw motor, a disc spring, a damping baffle, a force sensor, an expansion ring, a piston push rod, a conical ring push rod, a cushioning cavity housing, a motor lead screw guide ring, a foam metal filling block filler, a flexible porous material, a bottom end cover and a pressure spring; and has two-stage cushioning energy absorption structures. The first stage is a mechanical cushioning structure designed on the basis of thin-wall metal pipe plastic deformation cushioning, and foam metal and flexible porous material plastic deformation energy absorption; and the second stage is an autonomous cushioning energy absorption structure designed on the basis of servo motor feedback control, foam metal plastic deformation energy absorption and elastic element energy storage and release. The inventive cushioning device is a composite cushioning device with simple structure, obvious energy absorption effects and stable performance.