The invention discloses a four-freedom-degree series-parallel high-frequency mechanical humanoid robot foot, and belongs to the field of humanoid robots.The foot comprises a mechanical shank, a tarsal skeleton, a metatarsal skeleton, parallel toes, an ankle joint, a tarsometatarsal joint and a metatarsophalangeal joint; the mechanical shank is installed at the right end of the tarsal skeleton through the ankle joint, the left end of the tarsal skeleton is connected with the right end of the metatarsal skeleton through the tarsometatarsal joint, and the left end of the metatarsal skeleton is connected with the parallel toes through the metatarsopphalangeal joint; the parallel toes comprise the big toe, the second toe, the third toe, the fourth toe and the small toe, the metatarsophalangeal joint comprises a big toe gear shaft, a small toe gear shaft, a fourth motor frame and a fourth motor, the tarsometatarsal joint comprises a small metatarsal bone gear shaft, a big metatarsal bone gear shaft, a third motor frame and a third motor, and the ankle joint comprises a small ankle gear shaft, a big ankle gear shaft, a second motor, an ankle rotating shaft, a flange plate and a first motor.The humanoid robot foot is reasonable in structure, has four motion freedom degrees and the high-frequency motion characteristic and is in a series-parallel mode.