The invention discloses a multi-degree-of-freedom hip supporting and detecting device applied to a lower limb rehabilitation robot. The multi-degree-of-freedom hip supporting and detecting device comprises a mounting pedestal, an X-direction moving mechanism, a Y-direction moving mechanism, a Z-direction rotating mechanism and a sensor detection module. The mounting pedestal comprises a top connection board, a middle connection board and a bottom connection board connected with a robot body; the middle connection board can move in the X direction through the X-direction moving mechanism; the top connection board can move in the Y direction through the Y-direction moving mechanism; the Z-direction rotating mechanism can move in a rotary manner relative to the top connection board, and is provided with a hip connecting position; and the sensor detection module comprises two linear displacement detection units which respectively detect the X-direction moving displacement and the Y-direction moving displacement and an angular displacement detection unit used for detecting the Z-direction rotating angular displacement. The multi-degree-of-freedom hip supporting and detecting device has multiple degrees of freedom, constraints to the patient's limbs are released, the scientificity and comfort level of the rehabilitation training are improved, and the moving state of the patient's hip joint can be detected in real time.