A multi-foot moving device based on a combination driving mechanism is formed by a machine body (1) and a plurality of combination driving leg structures (2). The combination driving leg structures (2) are mounted on the machine body (1), and each combination driving leg structure (2) comprises a base (5), a main driving motor (6), a motor base (7), a coupling (8), a crank rotating shaft (9), a crank (10), a crank connecting rod rotating shaft (11), a transmission connecting rod (12), a rocker rotating shaft (13), a gear case rotating shaft (14), a linear driving unit (15), a rocker (16), a rocker small leg rotating shaft (17), a small leg unit (18), a connecting rod-screw rod nut sleeve rotating shaft (19) and a connecting rod small leg rotating shaft (20). The multi-foot moving device based on the combination driving mechanism achieves fast and efficient gait swing, and further achieves efficient walking and running of the moving device; meanwhile, flexible control is achieved, and the adaptability of the moving device to hillsides, grass lands, hollows and the like is further achieved.