The invention relates to a pneumatic humanoid robot system. The system adopts an air cylinder to drive the movement of hip joints, knee joints, foot joints, waist joints, shoulder joints, elbow jointsand wrist joints of a humanoid robot, and has a function of completely simulating joint movement of a person. The system is composed of a linear air cylinder, a swinging air cylinder, belt wheels, lead screws, bevel gears, toothed belts, toothed wheels and connecting pieces, the hip joints and the shoulder joints are driven by the swing cylinder through the belt wheels, the knee joints are drivenby the lead screws and the air cylinders in a combination manner, the foot joints are driven by a plurality of air cylinders, the elbow joints are driven by the swing cylinder, the wrist joints are composed of two groups of variable-distance swing parts and an air cylinder parallel mechanism, the hip joints, the knee joints, the foot joints, the waist joints, the shoulder joints, and the elbow joints and the wrist joints have 2, 1, 4, 6, 2, 1, 4 degrees of freedom correspondingly and a total of 34 degrees of freedom. According to the pneumatic humanoid robot system, a cylinder and cylinder combination driven are adopted, the system has the characteristics of large stroke, large working space and compact structure, and can be used for teaching and demonstration.