The invention provides a lower limb rehabilitation training device, which comprises an armrest, an armrest support frame, a control device, a back strap device, a lower limb auxiliary moving mechanism, a hip joint position regulating device, a caterpillar mechanism and a machine frame, wherein the lower limb auxiliary moving mechanism of the lower limb rehabilitation training device is driven by an air cylinder, the double-lower-limb alternate stepping movement can be carried out under instructions of the control device, and different rhythms can be realized through changing parameters, so that the lower limb rehabilitation training device adapts to different user groups. The lower limb rehabilitation training device has the advantages that the structure is simple, the use is convenient, the rehabilitation training on patients is scientific and effective, in addition, the application user group range is wide, the lower limb rehabilitation training can be independently completed by the patients, and the unnecessary labor resource waste can be reduced.