The invention relates to the technical field of medical dynamic measurement analysis, in particular to a wearable sensor measuring device and method for lower limb joint acting force and moment. The device consists of a computer memory, a data collector and wireless Bluetooth communication module of software and the like. The device is characterized in that a pelvis is provided with a first sensor, and a left huckle and a right huckle are provided with a second sensor and a third sensor; a lower left leg and a lower right leg are provided with a fourth sensor and a fifth sensor, and the side parts of a left heel and a right heel are provided with a sixth sensor and a seventh sensor; the side part of a right forefoot is provided with a eighth sensor and a ninth sensor, and a tenth sensor, an eleventh sensor, a twelfth sensor and a thirteenth sensor are arranged at the upper position and the lower position of a left planta and a right planta; and sensor data test signals are input into the signal input end of a computer to be collected and operated. The device can furthest reduce the influence of estimation errors of the quality, the center of mass and the moment of inertia of each part of lower limbs on the joint force and moment calculation accuracy. According to the method, the calculated amount can be reduced, and the application to real-time measurement and control is favorably realized.