The invention relates to a rehabilitation robot, in particular to a six-freedom degree leg rehabilitation training robot, comprising a rack, servo motors, three moving support chains and training pedals; the moving support chains are connected with the servo motors by a Hooke hinge mechanism; a first servo motor is connected with a third rotary hinge in the Hooke hinge mechanism, and the third rotary hinge is connected with a second rotary hinge by a second connection rod; the second rotary hinge is connected with a first rotary hinge by a first connection rod; a second servo motor is connected with a U-shaped member in the Hooke hinge mechanism; the axes of the first and third rotary hinges are vertical to each other and are coplanar; the axes of the second rotary hinge and the second servo motor are vertical to each other and are coplanar; the axes of the first and second servo motors are vertical to each other. Compared with the prior art, the six-freedom degree leg rehabilitation training robot has the advantage of realizing the rotary and moving in the X, Y and Z directions, and leg muscles of a patient are restored by the passive rehabilitation training.