The invention discloses a single leg experimental platform for a multi-foot walking robot. The conventional experimental platform has high cost, a complicated structure and high difficulty. The single leg experimental platform comprises a single leg experimental platform machine body and a single leg experimental platform control system, wherein the single leg experimental platform machine body comprises a single leg experimental platform framework, a walking robot single leg and a single leg experimental platform height adjusting device; the single leg experimental platform framework consists of a fixed bracket, a sliding platform and a sensor mounting plate group; the walking robot single leg comprises a hip part, a thigh, a shank and a foot; the single leg experimental platform height adjusting device comprises a base plate, a lower support rod, an upper support rod, an adjusting nut, a cover plate, a positioning rod, a first handle, a second handle and a bracket; the single leg experimental platform control system comprises a sensor group and a controller; and the sensor group comprises a first height displacement sensor, a second height displacement sensor, a horizontal displacement sensor, a force sensor and an encoder. The single leg experimental platform has a simple structure, low cost and a simple, convenient and reliable controlling process.