The embodiment of the invention relates to the technical field of robots, in particular to a robot internal skeleton structure and a robot. The robot internal skeleton structure comprises a head skeleton, a thoracic cavity skeleton, a left hand skeleton, a right hand skeleton, a lower body skeleton and a chassis skeleton, wherein the upper end of the thoracic cavity skeleton is rotatably connectedwith the head skeleton, the left hand skeleton is rotatably connected with one side of the thoracic cavity skeleton, the right hand skeleton is rotatably connected with the other side of the thoraciccavity skeleton, the upper end of the lower body skeleton is rotatably connected with the lower end of the thoracic cavity skeleton, and the chassis skeleton is rotatably connected with the lower endof the lower body skeleton. In this way, modular design of a robot internal skeleton can be achieved, and the robot internal skeleton is conveniently demounted and mounted.