The invention belongs to the technical field of medical rehabilitation, and discloses an ankle rehabilitation system capable of simulating walking based on VR. The system comprises a pressure detection module, a voice recognition module, a touch recognition module, a video monitoring module, a central control module, a network communication module, a server, a computer, a scene construction module, a human behavior recognition module, and a display module. The system provided by the invention is more advantageous for a user to actively carry out rehabilitation training of an ankle in a scene through a scene reconstruction module; can simulate the walking state of a patient through the visual feedback of the VR, feeds back and corrects a pathological walking mode, and forms a normal gait, thereby improving walking ability. Compared with the traditional walking rehabilitation training, the system has the effects of shortening the rehabilitation process, improving the rehabilitation efficiency and improving the rehabilitation effect. Through human behaviors, the system determines the moving significance area via the idea that a severe moving region provides more discriminating information in the behavior recognition, and assists the rehabilitation of the ankle.