The invention discloses a tongue movement mechanism of a humanoid head robot. The tongue movement mechanism comprises a tongue tip special-shaped block, a connection shaft, a tongue body special-shaped block, a tongue root special-shaped block, a tongue and telescopic connection rod connection shaft, a telescopic stepped shaft, a coupler, an upper plate, a driving gear, a swing motor, a driven motor, a gear shaft, a lower plate, a telescopic motor, a screw nut, a screw, a telescopic supporting shaft, a curling motor and a telescopic connection rod. The tongue movement mechanism is rarely found in a conventional head robot and improves the human-imitativeness of the head robot further. Telescoping control of a tongue is achieved according to the diamond instability, and the method is simple and reliable. The curling part of the tongue is far from the motors. According to the invention, steel wires are adopted for driving, and the difficulty of remote driving is overcome.