The invention provides a wearable exoskeleton lower limb rehabilitation robot, which comprises a foot exoskeleton, an ankle exoskeleton, a shank exoskeleton, a knee exoskeleton, a thigh exoskeleton, a hip joint exoskeleton and a waist exoskeleton, wherein the ankle exoskeleton is connected with the foot exoskeleton, the shank exoskeleton is connected with the ankle exoskeleton, the knee exoskeleton is connected with the shank exoskeleton, the thigh exoskeleton is connected with the knee exoskeleton, the hip joint exoskeleton is connected with the thigh exoskeleton, and the waist exoskeleton is connected with the hip joint exoskeleton. A harmonic speed reducer is used to drive, a disc type electric machine is utilized, so the zero rotation error as well as the well fit between the drive and the joints of patients are realized, the wearable exoskeleton lower limb rehabilitation robot can be driven by a battery which is fixed at the back of the patients, so the problem of the limit movement range of the traditional rehabilitation devices is solved, and the invention has the characteristic of portability.