The invention provides a manual limb rehabilitation exerciser. The manual limb rehabilitation exerciser comprises an arm front-back movement exercising device, an arm up-down movement exercising device, a foot massaging device, a foot step type leg exercising device and a chair, wherein a waist exercising device is arranged on the seat and comprises a chair back, a seat, a tension spring and a tension spring fixing device; the chair back is connected with the seat by a shaft; the tension spring fixing device comprises a first fixing end and a second fixing end; the first fixing end is fixed on the chair back; the second fixing end is fixed on the seat; and the tension spring is arranged between the two fixing ends. Normal limbs of one side of a user serve as a power source of the manual limb rehabilitation exerciser, the user takes exercises with the aid of a mechanical function of the rehabilitation exerciser, the phenomenon that handicapped limbs of the user are secondarily injured due to carelessness during exercising is avoided, functional exercising can be performed on the arms, the waist and the legs of a handicapped patient in all directions, manufacturing cost is reduced, a mechanical transmission structure is simplified, the manual limb rehabilitation exerciser is easy to manufacture, and mechanical faults are avoided. The manual limb rehabilitation exerciser is safe, reliable, energy-saving and environment-friendly, and is convenient to operate.