The invention discloses a spatial four-degree-of-freedom rehabilitation training device for lower limbs. The device mainly consists of an arc-shaped baseplate, a main arc-shaped guiding rail, a left main arc-shaped guiding rail, a right main arc-shaped guiding rail, an arc-shaped rack, an auxiliary arc-shaped guiding rail, a left auxiliary arc-shaped guiding rail, a right auxiliary arc-shaped guiding rail, a leg rehabilitation training mechanism, a square bottom shell, a six-dimensional force sensor, a second hinge base, a third hinge base, an electric ankle joint pushing rod, a middle shaft,a fisheye bearing, a driving bearing sliding base, a driven bearing sliding base, a gear motor, a gear, universal wheels, lifting legs, a chair, a controller, a left leg training mechanism, a right leg training mechanism and the like. Multifunctional, multi-posture and more comprehensive rehabilitation training of the lower limbs can be carried out, flexion and extension movement of the lower limbs in a vertical plane can be achieved, retraction and extension movement around the hip joints of the human body is achieved, high rigidity can always be maintained, and movement stability is improved. The retraction and extension movement around the hip joints of the lower limbs of the human body is better in line with a movement law of the human body, and a better rehabilitation effect is achieved.