The invention discloses a humanoid robot system based on pneumatic muscle. The pneumatic muscle is used for simulating human muscle to drive motions of a shoulder joint, an elbow joint, a wrist joint,a waist joint, a hip joint, a knee joint and an ankle joint, and achieves the function of totally simulating human motions. The humanoid robot mainly consists of a fixed plate, a support piece, thighbone, fibula, feet, humerus, ulna and the pneumatic muscle. The humanoid shoulder joint, elbow joint, wrist joint, waist joint, hip joint, knee joint and ankle joint are respectively provided with three degrees of freedom. The system is driven by the pneumatic muscle, has the characteristics of compact structure, cleanness, explosion prevention, various functions and convenience for equivalent replacement of other demands, and can be used for exhibition, meeting, explosion removal and teaching demonstration.