The invention discloses a leg connection structure for a bionic insect robot. The leg connection structure comprises a supporting plate, a long supporting rod, a first short supporting rod, a second short supporting rod, a moving rod, a driving mechanism and a T-shaped shaft. The long supporting rod and the short supporting rods are in inserting connection onto the supporting plate, the moving rod is in match connection with the T-shaped shaft, and the driving mechanism comprises a first shape memory alloy (SMA) spring, a second SMA spring, a third SMA spring and a fourth SMA spring. Two ends of each of the first SMA spring and the second SMA spring are connected with the moving rod and the long supporting rod through connection wires, the third SMA spring is connected with the first short supporting rod and the T-shaped shaft, and the fourth SMA spring is connected with the second short supporting rod and the T-shaped shaft. The leg connection structure for the bionic insect robot is simple in structure, stable in performance, low in manufacture cost, flexible in motion, low in driving voltage, free of pollution and noise, capable of improving adaptability of the robot to the environment and corresponding with bionic concepts.