The invention relates to a multifunctional lower limb rehabilitation training device. The device comprises a shank fixing part, a thigh fixing part, a cam, a crank, a cam connecting arm, a roller arm,a stress application spring and a stress application balancing adjusting device, wherein the crank and the cam are rotatably mounted on the thigh fixing part around the same axis, one end of the roller arm is hinged to one end of the crank, the other end of the roller arm is connected with the other end of the crank through a force application spring, and the force application spring is configured to promote the other end of the roller arm to get close to the other end of the crank. A roller is arranged on the roller arm and is pressed against the cam profile of the cam, one end of the cam connecting arm is rotatably connected with the shank fixing part, and the other end of the cam connecting arm is rotatably connected with the cam so that the thigh drives the cam to rotate when liftingor stretching the leg, and the stress application balancing adjusting device is installed on the thigh fixing part and is configured to adjust the position of the crank and enable the crank to be keptat the adjusted position. The training device is simple and reliable in structure, dorsal flexion/plantar flexion and introversion/extroversion actions of the ankle joint can be completed by taking leg lifting and stretching actions as driving force, so a patient not only can perform targeted perceptible rehabilitation training on the ankle joint according to personal conditions, but also can enable thigh muscles to be subjected to certain auxiliary training, and therefore, the rehabilitation training device is safer and more effective.