A simulation ambulation training device comprises a bottom plate, a left armrest device and a right armrest device. A slide plate is fixedly mounted on the bottom plate below each armrest device, horizontal guide grooves are formed in the upper portions of the inner sides of the side plates, horizontal lead screws are arranged in the guide grooves, horizontal sliders are mounted on the horizontal lead screws, a first servo motor is mounted on the side plate at one end of each horizontal lead screw, vertical guide plates are mounted on the horizontal sliders, vertical lead screws are arranged in the vertical guide plates, vertical sliders are mounted on the vertical lead screws, second servo motors are fixedly mounted at the top ends of the vertical guide plates, and pedals are arranged on the inner sides of the vertical guide plates and connected with the vertical sliders through speed reducers. The horizontal lead screws and the vertical lead screws are arranged, the sliders are arranged on the lead screws, so that the pedals can horizontally and vertically move, flexible movement traces are provided, different trace training can be performed according to different patients, the movement traces of a three-dimensional space are realized, and fine training effects are ensured.