The invention discloses a claw-type brake for a robot joint, and relates to the field of servo motors. A claw-type brake disc is installed on a motor shaft in a locked and fixed manner through a nut. A position sensor is fixedly connected with the end face of one end of the claw-type brake disc. A motor rotor is fixedly installed on one end of the motor shaft. A bearing is installed on the other end of the motor shaft. An end cover is installed on an outer ring of the bearing. An electromagnet is installed on the end face of the inner side of the end cover. The end cover is fixedly connected with the end face of one end of a housing body. A motor stator is fixedly installed on the inner side of the housing body. A sensor reading head is fixedly installed on the housing body. According to the invention, through the integrated design of the claw-type brake disc and the positioning sensor, a problem of quite long axial direction caused by separated installation of a traditional motor brake device and a position optical grating scale is solved; and the claw-type brake is compact in structure, convenient to install, and suitable for joint mechanical arms and has profound application prospects and economical benefits in the field of cooperative robots.