The invention discloses humanoid lower limbs driven by pneumatic artificial muscles and relates to a robot. By the adoption of the humanoid lower limbs driven by the pneumatic artificial muscles, the problems that due to the fact that an existing active robot is driven through a rigid structure, system structure is complicated, flexibility is poor, and the energy efficiency of the robot is low are solved. The humanoid lower limbs comprise a left leg, a right leg and a pelvis, wherein the left leg and the right leg are both provided with a thigh, a shank, a foot, a hip joint, a keen joint, an upper ankle joint and a lower ankle joint, the left leg and the right leg are connected through the pelvis, and the pelvis is connected with the thighs in a rotary mode through the hip joints; each thigh is connected with the corresponding shank in a rotary mode through the corresponding knee joint, each shank is connected with an ankle joint disc in a rotary mode through the corresponding upper ankle joint, and each ankle joint disc is connected with the corresponding foot in a rotary mode through the corresponding lower ankle joint; each thigh is provided with iliacus, gluteus maximus, vastus lateralis muscles, biceps femoris muscles, semitendinosus and rectus femoris, each shank is provided with tibialis anterior muscles, musculi soleus, musculus gastrocnemius, adductor and peroneus, and the upper end of the iliacus and the upper end of the gluteus maximus are both hinged to the pelvis. The humanoid lower limbs belong to the field of humanoid robots.