The invention discloses a narrow-foot type passive walking device which comprises a hip part, a driving device, a fixed frame, a data collecting device and a main control board, wherein the hip part comprises a left hip and a right hip, each hip is fixedly connected with a straight leg, and each straight leg is fixedly connected with a foot; the driving device provides power for the walking device to walk, the main control board conducts analysis according to data collected by the data collecting device so as to control the swinging frequency and swinging angle of the straight legs, the top end of the right hip is connected with the fixed frame, and the left hip is movably connected with the fixed frame. The narrow-foot type passive walking device has a complete double-foot walking form, is simple and ingenious in structure, and achieves lateral balance during walking with a brand new foot design; knees are not needed, the self-stabilization and natural gait dynamic characteristics of passive walking are utilized, and the control method is simple. The narrow-foot type passive walking device has substantial application prospect in the field of leg and foot rehabilitation therapy and the field of toys, and is of great potential application value even in the field of military application.