To provide a bipedal walking toy driving module which enables forward walking, backward walking, and change of a walking direction during the forward or backward walking for a bipedal walking toy which performs complete bipedal walking, not pseud-bipedal walking, by alternatively raising and lowering each leg.

Two motors controlled by remote control are stored in a body. Leg parts perform complete bipedal walking, not pseudo-bipedal walking, by alternatively raising each leg so as to completely separate from a walking floor face through a gear string and a crank member driven by one of the motors. One of driving wheels is driven through a worm gear, a long pinion gear, a long shaft, a pinion gear, and a crank gear which are driven by the other motor so that the walking direction is changed freely during bipedal walking.