The invention discloses a foot plate structure of a humanoid robot capable of perceiving ground counterforces, which relates to a foot structure of the humanoid robot. The foot plate structure consists of two foot plates. Each foot plate mainly comprises an upper plate, a lower plate, a force sensor, a circuit board, a rubber lead block and a rectangle rubber pad. The foot plate structure has thecharacteristics of small volume, lightweight, surface contact with ground, the capability of perceiving ground counterforce and adapting ground environment, simple structure, low cost, good detectioneffect and adjustable height. The foot plate structure can detect the magnitude of the counterforce perceived by different parts of the foot in real time, and can calculate the position of zero momentpoint (ZMP) in real time, also can communicate with an upper controller in real time and is convenient for popularization and application. The foot plate structure can be widely used as the foot structures of humanoid robots, particularly applicable to the foot structures of small humanoid soccer robots.