The utility model provides an integrated two-degree-of-freedom rotary joint which comprises a shell and a driving device installed in the shell, the driving device comprises a first driving device body and a second driving device body, and the first driving device body and the second driving device body are arranged in a coplanar mode. The first driving device comprises a first motor and is installed on one side of the shell, a second driving device is arranged on the side, away from the first motor, in the shell, the second driving device comprises a second motor, and the axis of the second motor is perpendicular to the axis of the first driving device; compared with a single-degree-of-freedom joint module, driving devices in two directions are integrated, one joint can provide power output in two directions, the structure is more compact, the structure size is smaller, the weight is lighter, the integration degree is higher, the distance of the joint can be increased according to needs, and the joint and a connecting arm rod can be freely assembled into the multi-degree-of-freedom mechanical arm.