The invention provides a telescopic rocker type limb movement mechanism which comprises a base, a first support, a second support, a hollow annular support, a telescopic rocker device, a first rotating motor and a second rotating motor, wherein the first support, the second support, the hollow annular support and the telescopic rocker device are fixed to the base. The telescopic rocker device is supported above the base in a suspended mode through the first support, the second support and the hollow annular support. The telescopic rocker device rotates in two-dimensional directions through the first rotating motor, the second rotating motor and all connecting rotating shafts. Meanwhile, through the combination of the linear movement of the telescopic rocker device, the movement of the three-dimensional space is achieved. The telescopic rocker type limb movement mechanism is simple in structure, easy to assemble, small in friction force and high in transmission precision; through the movement mechanism, a user can do limb movements in the three-dimensional space, the movement flexibility and interestingness are improved, and the telescopic rocker type limb movement mechanism is suitable for body building and also suitable for rehabilitation training of limb muscle force and joint motion of patients.