The present invention provides a multi-leg robot pressure spring position limited elastic driving joint module which consists of a retaining screw (1), a motor back end cover (2), a joint flange (3), four retaining screws (4), four connection copper columns (5), a servo motor (6), a thrust block (7), a motor-box retaining screw (8), a fixed pin (9), a potentiometer (10), a pin (11), a worm wheel output block (12), a potentiometer support frame (13), a retaining screw (14), a transfer joint block (15), an adjustable fastening screw (16), a worm (17), a worm wheel (18), a retaining screw (19), a steady bearing I (20), a steel ball (21), an adjustable end cover (22), a fixed reinforcing plate (23), a retaining screw (24), a square box body (25), a worm wheel steady bearing (26), a clamp spring (27), a retaining screw (28), a pressure cover (29), a retaining screw (30), a fixed plate (31), a steady bearing (32), a coder fixing bracket (33), a motor coder (34), a pressure spring (35), a pressure spring guide rod (36) and a copper bush (37). The multi-leg robot pressure spring position limited elastic driving joint module has compact structure, large transmission ratio, stable transmission and reliable self locking performance.