The invention discloses a completely passive both-foot walking machine with bionic ankle and subtalar joints, comprising a hip assembly, leg assemblies, ankle joint assemblies, subtalar joint assemblies, a left foot, a right foot and toe assemblies, wherein each leg assembly is arranged between the hip assembly and the ankle joint assembly, and a main body of the walking machine is constructed; each subtalar joint assembly is arranged between the ankle joint assembly and a foot, the toe assemblies are distributed at two sides of each foot. Foot joints disclosed by the invention comprise the ankle joint assemblies and the subtalar joint assemblies, the foot joints of the walking machine are designed by simulating the physiological angles of the ankle joints and the subtalar joints of a human in the space. Meanwhile, toes can realize an elastic start in the walking process under the effect of springs. According to the walking machine disclosed by the invention, the beneficial effects of the optimal walking energy efficiency, improvement of walking stability and naturality of the both-foot walking machine are achieved according to the passive walking principle and the introduction of the bionic ankle and subtalar joints.