The invention relates to a parallel structure type ankle joint rehabilitation training device, which comprises a thigh support, an inner thigh support rod, an outer thigh support rod, a shank connecting sleeve, a foot support plate, a base plate, a flexible first movement branch chain, a flexible second movement branch chain and a third movement branch chain. The upper ends of the first movement branch chain and the second movement branch chain are connected with the foot support plate through ball hinges, and the lower ends of the first movement branch chain and the second movement branch chain are connected with the base plate through hook hinges; and one end of the third movement branch chain can rotate around the extension direction of the third movement branch chain, and the upper end and the lower end of the third movement branch chain are respectively connected with the foot support plate and the base plate through hook hinges. The 2-UPS/UCU/S type parallel structure is adopted, three degrees of freedom of rotation can be provided, the center of rotation is the ankle joint, the dorsiflexion/plantar flexion, inward turning/outward turning and inward rotation/outward rotation of the ankle joint can be truly realized, and the bionic performance is good. Moreover, the device has a symmetric structure, and the movement can be realized easily.