Provided is a six-freedom-degree self-adaptive wrist joint rehabilitation device. The device uses a serial-parallel structure form, and has three active rotational freedom degrees and three passive rotational freedom degrees. The device is formed by a pedestal, an arm rotating platform, active supporting chains, an arc connecting rod, a passive moving structure on an X direction, a passive moving structure on a Y direction, and a passive moving structure on a Z direction. The arm rotating platform is connected with a motor through external gearing of a gear, and rotation on the pedestal (that is, rotation around an X-axis direction) is realized. The arc connecting rod is connected with the left arm and the right arm of the arm rotating platform through bearings, and rotation around a Y-axis direction is realized. The passive moving structure on an X direction is connected with the arc connecting rod through a bearing, and rotation around a Z-axis direction is realized. The device makes a person more natural and comfortable in a rehabilitation training process. The device is advantaged by simple structure, stable driving, convenient use, small volume occupation, and low manufacturing cost.