The invention belongs to the technical field related to robots, and discloses a leg structure with low inertia and high load and a footed robot using the same. The leg structure includes a crotch connector, a pelvis assembly, a knee joint motor, a hip joint motor, a side swing joint motor and a leg link, wherein: the crotch connector is connected with the stators of the above three motors at the same time, and the three The rotors of the motors are respectively connected to the pelvis assembly, the motor of the side swing joint is coaxially opposite to the motor of the hip joint, the axis of the motor of the knee joint is perpendicular to the axis of these two motors, the motor of the hip joint drives the thigh connecting rod to rotate, and the motor of the knee joint drives the connecting rod of the calf The rod rotates, and the side swing joint motor drives the leg link to swing sideways, so as to realize the outward swing and retraction of the robot's legs and the flexion and extension of the thigh and calf. Through the present invention, the three joint motors are connected to the fuselage in parallel, and the pelvis assembly performs power splitting, thereby reducing the inertia of the legs, enhancing the rigidity of the legs, and improving the bearing and dynamic response capabilities.