The invention discloses a rotary type flexible joint. The flexible joint comprises a motor, a motor frame, a mounting plate, a first connecting plate, a first synchronous pulley, a first synchronous pulley cover plate, a synchronous belt, a reducer, a reducer flange, a spring mounting rack, a spring output rack, an output disk, a second connecting plate, a synchronous belt end cover, a third connecting plate, a crossed roller bearing, a bearing outer ring baffle, a bearing inner ring baffle, a first flat key, a reducer flange end cover, a spring, a second flat key, a third flat key, a second synchronous pulley and a second synchronous pulley cover plate. The flexible joint solves the problem that the flexible joint only can generate linear motion, and a foundation is laid for designing a joint robot which is high in flexibility, can span certain barriers and pits and has high adaptive capacity to environment.