The invention discloses a two-freedom-degree limiting exoskeleton ankle joint and the application thereof. The lower end of a calf rod is fixedly connected with the upper end of an ankle joint upper component. The ankle joint upper component is hinged to an ankle joint lower component in an approximate spherical mode through a switch-over ball. The lower end of the ankle joint lower component is fixedly connected to a sole. The two sides of the switch-over ball are both provided with circular-arc-shaped grooves which are smaller than 360 degrees and larger than 180 degrees. The grooving directions of the circular-arc-shaped grooves in the two sides are perpendicular and orthogonal to each other. The lower end of the ankle joint upper component and the upper end of the ankle joint lower component are each a plier body with a fixed circular-arc ring structure, and the plier bodies are embedded into the circular-arc-shaped grooves in an opening and closing mode. According to the two-freedom-degree limiting exoskeleton ankle joint and the application thereof, plantar flexion, dorsal flexion, introversion and extroversion movements of the ankle joint in the same center are achieved only through the extremely simple structure and convenient matching, and each freedom degree is limited by different angles.