To provide a leg type moving robot decreasing the weight of an end side of a leg portion, and reducing inertia force occurring in the leg portion in traveling.

In the leg type moving robot, a ankle Y-axis electric motor 42 for rotating an ankle Y-axis 26RY that is a right and left motion axis of an ankle joint 26R, and an ankle X-axis electric motor 40 for rotating an ankle X-axis 26RX that is a back-and-forth motion axis of the ankle joint 26R are disposed in a thigh link 16R. The ankle Y-axis electric motor 42 is disposed at a position separating from a knee joint 22R as compared with the ankle X-axis electric motor 40, namely a position remote from the end side (a foot 24R side) of the leg portion 12R.