A kneeling position static and dynamic balance training device comprises a frame, wherein an underbed device and a panel device are arranged on the frame, the underbed device comprises an underbed and an underbed resetting device, and the panel device comprises a panel frame and a panel. Good transition training from the recumbent position to the standing position is achieved by arranging a knee assembly and a back assembly, and more help is provided for a patient without the standing ability for long or temporarily, so that the patient begins rehabilitation training early; the use range is enlarged by arranging a knee rotating frame; the patient kneels on a knee protection pad and holds armrests with the hands, a brake compressing block is lifted up through a brake device to unlock a central spindle, the panel is driven to tilt when the body of the patient tilts, the panel frame drives a middle sliding sleeve and the central spindle to rotate around a cardan joint, the underbed resetting device, the knee assembly and the back assembly play a role in mechanical protection, safety in the training process of the patient is improved, and dynamic balance of the patient is trained by controlling the motion trail of the patient through a controller.