The invention discloses a four-foot bio-robot leg which is used for solving the technical problem of a single movement structure, caused by a rigid structure, of an existing robot leg. According to the technical scheme, the four-foot bio-robot leg is composed of an articular disc, an articular disc hydraulic cylinder shaft rigid and soft regulating mechanism, rigid structures such as a machine body support, a thigh support, a crus connecting rod, a crus connecting plate, an articular disc limiting block, a crus supporting base, a crus sleeve and soft structures such as a sole. A power drive device is driven in a hydraulic mode. Due to the fact that a soft link spring is arranged based on the rigid structure to buffer and absorb vibration, and the cooperation of the articular disc and the articular disc limiting block imitates the human body knee-joint tissue, the crus can move flexibly, go upstairs, jump and do other movements.