The present application belongs to the technical field of humanoid service robots, and in particular relates to a tail structure and a robot. In the tail structure, the first rod is connected to the robot body, the second rod is hinged to the first rod around the axis of the first rod, the tail shell is installed on the second rod, and the two ends of the elastic member are respectively Connected to the first rod and the second rod. When the robot body moves, the second rod will swing, and the second rod will drive the tail shell to swing. During this process, the elastic member twists and stores energy. When the robot body stops moving, that is, when the external force that promotes the swing of the second rod disappears, under the action of the elastic member, the second rod will rotate and reset, and the tail shell will follow the rotation and reset of the second rod. Therefore, the flexibility of the tail of the robot during the movement process is enhanced, so that the tail shell can swing dynamically with the robot body, simulating the effect of the animal tail swinging while walking, effectively solving the situation that the fixed tail of the existing robot is not flexible and rigid.